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I want to determine the position of the aruсo marker relative to the camera in the real world. Aruco marker is located on a 2x3 meter field. It is raised relative to the field by some distance. There is a camera on the side of the field. It is raised above the field at a known distance. To successfully solve the problem, I need to find the distance from the camera to the aruco marker. But this distance should not be from the center of the marker to the camera lens, but from the center of the marker to the edge of the field. It is also necessary to find the horizontal offset of the marker. That is, how far it is to the right or left of the camera.

I tried to find the 6dof position of the marker relative to the camera, thanks to the cv2.aruco.estimatePoseSingleMarkers function, but it gave results with an error of about 0.5 meters. Perhaps it is worth recalibrating the camera, but perhaps this is due to the tilt of the camera or marker? But in any case, perhaps this method is not suitable for this task. Sample photo from the camera (cropped):

enter image description here

Scheme of field and camera position: enter image description here

Example of input and excepted output: enter image description here

I tried to use cv2.aruco.estimatePoseSingleMarkers method.

Ret7020
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    [mre] required. read all the documentation. understand coordinate systems and transformations between them. understand rvec (axis-angle encoding) and tvec. you either need to understand camera calibration well enough to know when your calibration is bad, or you need to ditch that and instead calculate an intrinsics matrix from design parameters (sensor pixel size, lens focal length) – Christoph Rackwitz Feb 11 '23 at 22:10

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