Limited-rotation pose-estimation of a pre-labeled marker.
I have designed a blue rectangular-marker with an L-shaped red-fill inside it. I have labelled the outer-corners of rectangle as 1-2-3-4. The above code, will work only if the rotation is less than 90 degrees in yaw, pitch or roll when it is oriented in its home-positions; The L-shape has no significance, except for the user to realize 1-2-3-4(home-position) when giving an input signal to the camera. This could be shown by another marker named as marker_ The above code computes rotation and translation to significantly good accuracy and outputs only translation.
This code could be improvised to create a robust pose-estimator, which could be used in estimating planar distance of different points in the world from the marker.
STEPS INVOLVED:-
- Marker segmentation from background.
- Extracting the corners of the marker.
- Labelling the corners of the marker corresponding to the world-cordinates
- Calculation of Rotation and translation using solvePnP