opecv Aruco markers pose estimation

Question

I am trying to use aruco markers and estimating the pose of single markers. Sometimes I get weirdly large values as

Marker ID 2 : [-1.11133e+06, -918896, 3.3727e+06] , [-3.22862e+08, 4.49601e+08, -5.05835e+08]

Has anyone experienced this problem?

another example of wrong pose values : Marker ID 2 : [-8.65644, -6.67415, 30.2641] , [259.038, 323.428, 243.847] — Yeshasvi Tirupachuri, Mar 29 '17 at 20:45

score 0 · Answer 1 · answered Apr 04 '17 at 13:03

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Setting useExtrinsicGuess flag to true caused this problem. Now I am using SolvePnP directly with CV_ITERATIVE. The pose values are not super stable and consistent but still better than before. There is still an occasional Z axis flipping.

answered Apr 04 '17 at 13:03

Yeshasvi Tirupachuri

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opecv Aruco markers pose estimation

1 Answers1