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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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Fiducial marker or camera pose estimation

Let's say, we've got an Aruco marker and we want to estimate a camera pose. We can use estimatePoseSingleMarkers() function, which is based, as I understood, on solvePnP() function. So, help me, please, answer the next two questions: What are the…
Roman Dosaev
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How to increase aruco detection accuracy?

I have filmed an object on aruco board from two positions with the same camera. I've undistorted images and calibrated camera before work. I take one red point on one shot and calculate 3d line, which corresponds to this point 3D space, and then…
Stepan Yakovenko
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OpenCV projectPoints(): inconsistent covariance/standard deviation of estimated poses

I am using OpenCV in a pose estimation algorithm, where I am also attempting to obtain an estimate of the uncertainty of the estimated pose. My pose estimation is performed through 3D-2D correspondences and the PNP algorithm. To achieve uncertainty…
HighVoltage
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How can I compute the covariance of a camera-based relative pose measurement?

I am trying to compute the relative pose between two cameras using their captured images through the usual way of feature correspondences. I use these feature matches to compute the essential matrix, decomposing which results in the rotation and…
HighVoltage
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Get 3D coordinates from two 2D frames

I couldn't find the proper answer to my problem on the Web, so I'll ask it here. Let's say we're given two 2D photos of the same place taken from slightly different angles. I've chosen the set of points (edge detection), found correspondences…
AnatoliySultanov
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ArUco Axis Swap while drawing 3dAxis

I'm currently trying to develop a ArUco cube detector for a project. The goal is to have a more stable and accurate pose estimation without using a large ArUco board. For this to work however, I need to know the orientation of each of the markers.…
Josiah Smith
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OpenCV Pose Estimation and projectPoints

I'm doing something similar to the tutorial here: http://docs.opencv.org/3.1.0/d7/d53/t... regarding pose estimation. Essentially, I'm creating an axis in the model coordinate system and using ProjectPoints, along with my rvecs, tvecs, and…
user3543300
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Relative pose optimization using 5-point algorithm and RANSAC

I am trying to get 3D reconstruction from uncalibrated multi-view images. I don't know the intrinsic parameters of the camera I have SIFT features. What I like to do is filtering out-liers using the 5-point algorithm in combination with RANSAC, so…
batuman
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indirect (error state) kalman filter: propagation of error state

I am working on a error state Kalman filter to estimate the position and orientation of a flying vehicle using IMU data for state propagation and vision based measurements for updating. So for what I know/understood from "Quaternion kinematics for…
Zwähnia
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Pose estimation: solvePnP and epipolar geometry do not agree

I have a relative camera pose estimation problem where I am looking at a scene with differently oriented cameras spaced a certain distance apart. Initially, I am computing the essential matrix using the 5 point algorithm and decomposing it to get…
HighVoltage
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Essential Matrix: Pure Rotation

I am trying to estimate an Essential Matrix from point correspondences. I set my init values to [rx,ry,rz,tx,ty,tz] to 0. But the first problem I encounter is, the Essential Matrix will be zero if all translation vector entries are zero. Am I right…
crazyduck
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Detecting objects and then computing pose of object/camera in OpenCV

Assuming there are two cameras in 3D space, spaced apart, looking at the same scene. I am trying to achieve the following through opencv: (please correct me if my approach is wrong) Camera1 which is fixed, looks at an object, computes pose of the…
HighVoltage
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OpenCV Error through calibration tutorial (solvePnPRansac)

Can anyone know what is going on with this opencv error ? cv2.error: /home/desktop/OpenCV/opencv/modules/core/src/matrix.cpp:2294: error: (-215) d == 2 && (sizes[0] == 1 || sizes[1] == 1 || sizes[0]*sizes[1] == 0) in function create Line code…
nestarz
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Error in Fundamental Matrix?

I am trying to estimate the pose of a camera by scanning two images taken from it, detecting features in the images, matching them, creating the fundamental matrix, using the camera intrinsics to calculate the essential matrix and then decompose it…
Rohit H.S.
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OpenCV::solvePNP() - Assertion failed

I am trying to get the pose of the camera with the help of solvePNP() from OpenCV. After running my program I get the following errors: OpenCV Error: Assertion failed (npoints >= 0 && npoints == std::max(ipoints.checkVector(2, CV_32F),…
Silex
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