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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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In opencv's solvePnP, what should I pass for objectPoints?

OpenCV docs for solvePnp In an augmented reality app, I detect the image in the scene so I know imagePoints, but the object I'm looking for (objectPoints) is a virtual marker just stored in memory to search for in the scene, so I don't know where it…
Darken nulle
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Finding transformation between cameras looking at the same scene from different angles

I have a camera setup with two or more cameras looking at he same object from opposite directions: I want to find a transformations between these cameras using asymmetric circles pattern and cv::stereoCalibrate. Is it going to work in this setup?…
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Gaze estimation with OpenCV intersection of ray and screen

I'm using OpenCV to do gaze estimation of a person. Currently I have a vector of the user's gaze (for each eye) and coordinates of the center of the eye all in 3D world coordinates. I want to figure out approximately where the user is looking on…
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Real-Time Human Pose Recognition in Parts from Single Depth Images

I have been reading this paper and there is point not clear to me. For their algorithm they are using body parts, but i couldn't find how they obtain the body part. Is there any straight forward method for obtaining body parts? paper link
seleucia
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Essential Matrix opencv

If you have 8 perfect tracked points from two images and avoided the degenerate cases why is the essential matrix still wrong some times (or not good enough). Is this a numerical problem? For any hint I grateful. EDIT This is my virtual scene. The…
user3077796
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Pose estimation using PNP : Strange wrong results

I am trying to use the PNP algorithm implementations in Open CV (EPNP, Iterative etc.) to get the metric pose estimates of cameras in a two camera pair (not a conventional stereo rig, the cameras are free to move independent of each other). My…
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Calculate new PixelCoordinates Point with R and t

I know for a 3d reconstruction you can get everything except the scale factor from two images. But can you calculate where one Point from the first images sits in the second images. The scale factor shouldn't be interesting here?! sensorCheckPoint.x…
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How to estimate distance by solvePnP using OpenCV?

I tried to estimate distance between my camera and a chessboard which I used for the calibration. But I've got a big different in the Z-values (993 - 1021 mm) for points on the chessboard. The chessboard is parallel to the camera, so I expected that…
Alexander
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Slight changes in rotation matrix completely destroying stereo reconstruction

I am trying to reconstruct a scene in 3D based on iamge features and projection matrices (computed through feature matching and essential matrix computation) of two cameras, all of this in OpenCV. I am encountering a strange problem with…
HighVoltage
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Why are my epipolar lines changing so much although images are taken from same position?

I am using the five point algorithm through the findEssentialMat() function in OpenCV 2.4.11 to compute the relative pose of one camera with respect to another. For initial tests, I kept two cameras separated in X and took multiple pictures. As the…
HighVoltage
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Relative camera pose estimation: obtaining metric translation using noisy estimate

I am currently working on pose estimation of one camera with respect to another using opencv, in a setup where camera1 is fixed and camera2 is free to move. I know the intrinsics of both the cameras. I have the pose estimation module using epipolar…
HighVoltage
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Relative pose estimation using essential matrix: Wrong R and T

I am trying to use the essential matrix method in opencv to obtain the R and t of one camera pose with respect to another. The procedure I am following is: Mark features using SIFT Match features using FLANN matching Compute fundamental…
HighVoltage
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Generate synthetic images from a 3D model of an object

I want to carry couple of tests to evaluate the accuracy of a pose estimation algorithm that I am working on. I have a 3D model of some objects and would like to generate synthetic images of this object at various known poses. For someone being new…
Rachel88
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Near Focusing Camera Pose Estimation

My project is currently required to calculate accurate pose for a very near focusing camera (1-3 inches). To do that, we need to know the Z-value of interesting points and triangulate them to 3D space. We try to consider sensors such as PrimeSense…
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Camera pose estimation from essential matrix

I try to estimate the camera motion from pair of images. I found essential matrix E and decomposed it into the rotation and translation elements. Here is the C++ code: cv::SVD svd(E); cv::Matx33d W{0, -1, 0, 1, 0 , 0, 0, 0, 1}; cv::Mat_ R =…
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