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Questions tagged [pose-estimation]

The specific task of determining the position and orientation of an object in an image relative to the camera coordinates is called Pose Estimation.

The pose of a camera is also known as the camera Extrinsic Parameters. It is a 3x4 matrix where the first 3 columns are the rotation (orientation) and the las column is the translation (position).

Camera Pose matrix. Rotation and Translation

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How to average continues translation vectors

I am doing pose estimation with AruCo markers using OpenCV in C++ on live webcam feed. My fps is 30 so when I am printing translation vectors, I am getting continues values of translation vectors i.e. 30 values per second. These values are…
adi1992
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Perspective N point solution: Position drifting linearly with rotation angles?

I am using a P3P algorithm to compute the rotation and translation of a camera given pre-mapped 3D points, and their corresponding projections on the 2D plane (PNP problem). The algorithm I am using is the one described in a CVPR 2017 paper, with…
HighVoltage
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Finding displacement between two camera frames

I'm currently working on a visual odometry project. Currently I've implemented up to Essential Matrix decomposition stage. But the resulting translation vector is normalized and cannot be able to plot the movement. Now how can I compute the…
Althaf
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Why distance is more accurate than angle from translation vector in pose estimation

I am using a square (whose size is known) to estimate translation vector between it and the camera. Firstly, the intrinsic camera parameters are calculated, then translation vector (x,y,z) are estimated using 4 points detected from the…
Jun Fang
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Improper Translation Matrix from SVD of Essential Matrix for 3D reconstruction using 2 Images

I am trying to find a 3D model from 2 images taken from the same camera using OpenCV with C++. I followed this method. I am still not able to rectify mistake in R and T computation. Image 1: With Background Removed for eliminating mismatches Image…
Spyder
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Python: solvePnP( ) not enough values to unpack?

I'm having problem with a function called cv2.solvePnP from OpenCV. This function is used to get a pose estimation of a chess board. After the following code I get an error: for fname in glob.glob('Images/Calibragem/img1*.jpg'): img =…
Mateus Arruda
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3D world Coordinate estimation using stereo camera

I have a stack of know object. My problem is to find the World Coordinates(X,Y,Z) of the object using the stereo pair. I have done the following steps. Stereo camera calibration, Got intrinsic and extrinsic parameters. Un-Distort the image…
SPG
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How to calculate rotation matrix and translation vector of camera using four points

The perspective transformation from 3D object to 2D image plane is: s[u v 1]^t = A[R T][X Y Z 1]^t where the A is camera params that are known. In Matlab, we can use an "extrinsic" function to calculate R and T given four corresponding image…
Jun Fang
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Stability of pose estimation using n points

I am using chessboard to estimate translation vector between it and the camera. Firstly, the intrinsic camera parameters are calculated, then translation vector are estimated using n points detected from the chessboard. I found a very strange…
Jun Fang
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3d pose estimation in opencv

I have an object with some sensors on it with a known 3d location in a fixed orientation in relation to each other. Let's call this object the "detector". I have a few of these sensors' detected locations in 3D world space. Problem: how do I get an…
Hacky
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pose estimation: determine whether rotation and transmation matrix are right

Recently I'm struggling with a pose estimation problem with a single camera. I have some 3D points and the corresponding 2D points on the image. Then I use solvePnP to get the rotation and translation vectors. The problem is, how can I determine…
dudu
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opecv Aruco markers pose estimation

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? …
Yeshasvi Tirupachuri
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Using external pose estimates to improve stationary marker contour tracking

Suppose that I have an array of sensors that allows me to come up with an estimate of my pose relative to some fixed rectangular marker. I thus have an estimate as to what the contour of the marker will look like in the image from the camera. How…
Nezo
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Mean Square Error Regression Convolution Net Stop Learning

I am trying to use the alexnet to do regression on human pose estimation using MatConvNet. When i train the net for the first two epochs, the loss is decreasing quick. But after than, the loss is not decreasing anymore and when i visualise the…
Max Shek-wai Chu
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Aruco scales coordinates wrong

I am using the (newly released) ArUco 2.0.7 to track some markers. The camera that I am using is mounted to the ceiling facing down, so I only need the x and y coordinates. It can view an area of 2.6m by 1.5m. If I understand the documentation…
RunOrVeith
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