Input: detected april tag corners in the frames of a video sequence, real tag size and calibration matrix Task: calculate the 3D locations of the april tags and the pose (position and orientation) of the camera at each frame in the world coordinates Optimization: Pose Graph Optimization using GTSAM toolbox
Sample output(The rectangle blocks are the tags in world coordinates. The red path indicates the pose of camera at each frame):
For full report: project 4 report.pdf
To run:
- Open the folder in Matlab and
select gtsam_toolbox > Add to Path > Selected Folders - Run Wrapper.m