diff --git a/remote_control/aruco_estimator.py b/remote_control/aruco_estimator.py
index 275870f..fc0fee9 100644
--- a/remote_control/aruco_estimator.py
+++ b/remote_control/aruco_estimator.py
@@ -167,6 +167,9 @@ class ArucoEstimator:
         cv2.namedWindow('RoboRally', cv2.WINDOW_AUTOSIZE)
         cv2.setMouseCallback('RoboRally', self.mouse_callback)
 
+        fps_display_rate = 1  # displays the frame rate every 1 second
+        fps_counter = 0
+        start_time = time.time()
         try:
             running = True
             while running:
@@ -221,6 +224,16 @@ class ArucoEstimator:
                 if self.drag_line_start is not None and self.drag_line_end is not None:
                     color_image = cv2.line(color_image, self.drag_line_start, self.drag_line_end, color=(0, 0, 255), thickness=2)
 
+                # compute frame rate
+                fps_counter += 1
+                delta_t = time.time() - start_time
+                if delta_t > fps_display_rate:
+                    fps_counter = 0
+                    start_time = time.time()
+                color_image = cv2.putText(color_image, f"fps = {(fps_counter / delta_t):.2f}", (10, 25), cv2.FONT_HERSHEY_PLAIN, 2,
+                                          (0, 255, 255),
+                                          thickness=2)
+
                 # Show images
                 cv2.imshow('RoboRally', color_image)
                 key = cv2.waitKey(1)