Update 6: datamatrix 3D pose estimation completed

Hello!
I have completed the pose estimation of the datamatrix. In order to perform the estimation I have used the corners provided by the library libdmtx and the OpenCV function solvePnP(). The estimation seems accurate but I tried to improve the precision using all the corners visible and the function solvePnPRansac(), which uses a RANSAC (Random sample consensus) approach to separate the inliers from the outliers. For now this improvement does not work because the function solvePnPRansac() crashes when it has to deal with a large number of points.
I will try to fix this problem in the future.

The next step will be to connect the localization node with the EKF using the new Robotics System Toolbox for MATLAB.

poseestimation

Advertisements

Leave a Reply

Fill in your details below or click an icon to log in:

WordPress.com Logo

You are commenting using your WordPress.com account. Log Out / Change )

Twitter picture

You are commenting using your Twitter account. Log Out / Change )

Facebook photo

You are commenting using your Facebook account. Log Out / Change )

Google+ photo

You are commenting using your Google+ account. Log Out / Change )

Connecting to %s