Is there a multi-camera marker localization package?

asked 2016-12-11 04:37:49 -0500

NEngelhard gravatar image

We are planning a hackathon in which we want to have some robots in an arena. To simplify the tasks, we want to provide a usable localization by attaching marker to the robots and having some external cameras. We have wheeled robots so that the localization is only 3d (not 6d). I'd like to use several cameras to cover a larger area. Is there already a package that could be used for this setup? Calibration tools (extrinsic n-camera calibration) and also an increased accuracy if several cameras see a marker would be nice. It's not that hard to get a raw version of this setup to run, but I'd expect that someone already implemented something like that.

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It's not an easy pkg, but apparently industrial_extrinsic_cal can do multi-camera extrinsic calibration: Multi-Camera Extrinsic Calibration with a Target. Do send a msg to the ros-i mailing list for help if needed.

gvdhoorn gravatar image gvdhoorn  ( 2016-12-11 07:25:49 -0500 )edit

And I just remembered: ethz-asl/kalibr.

And it's old, but the camera_pose stack also does this (walkthrough here).

gvdhoorn gravatar image gvdhoorn  ( 2016-12-11 07:26:43 -0500 )edit

Thanks! I'll have a look at the packages.

NEngelhard gravatar image NEngelhard  ( 2016-12-12 04:12:06 -0500 )edit