Marker long distance tracking with Kinect
I would like to use the Kinect to detect my Turtlebot and have a better odometry. So the Kinect is located between two and five meters from the turtlebot.I tried so many package like ar_pose, visp_auto_tracker or ar_kinect. Right now the best is still ar_pose but only for less than one meter or two max.
With ar_pose, something strange happens, that works better with a small pattern(80mm) than with a large (200mm). And that, even when I modify the parameter marker_width = 200.
Other issue, I cannot use ar_pose with a Kinect image_mode equal to 1: SXGA_15Hz (1): 1280x1024@15Hz. That's too bad because image quality is a lot better.
Does anyone have some tips to increase the tracking ?
EDIT: Here is a part of my launch file related of ar_pose.
<!-- Reading Pattern -->
<node pkg="ar_pose" type="ar_single" respawn="true" name="pattern_reader">
<remap from="/usb_cam/image_raw" to="/openni/rgb/image_color" />
<remap from="/usb_cam/camera_info" to="/openni/rgb/camera_info" />
<param name="marker_pattern" type="string" value="$(find ar_pose)/data/patt.hiro"/>
<param name="marker_width" type="double" value="200"/>
<name threshold="threshold" type="double" value="100"/>
</node>
I have printed a larger hiro pattern with fitting a A4 paper, it is a square as well.
I experienced poor detections with the ar_kinect package as a result of missing depth information on the black parts of the marker (did you check this?). Info regarding the tracking range for markers using ar_pose can be found at: http://www.hitl.washington.edu/artoolkit/documentation/userarwork.htm
why you cannot use the better quality image?
I didn't check depth information that's right. Now I use ar_pose because that works with 2 or 3 meters even if it's difficult with some light. The range for marker on the website are very short, I understand that for 8 inches (200mm) I have only 54 inches (1m36). I think my biggest issue is light.
I cannot improve quality image because ar_pose find nothing when I use image_mode=1. I think it doesn't like SXGA. I have no output but no error message either.