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Which 6D pose estimation package works best and will be supported?

asked 2011-04-08 09:36:22 -0500

sdavies gravatar image

updated 2014-01-28 17:09:30 -0500

ngrennan gravatar image

I have seen several different solutions to 6D pose estimation in ROS/opencv:






datamatrix seems less accurate than the checkerboard approach, but the checkerboard packages seem to no longer be supported. The fiducial package seems new (used in the tod_training contest), but there is no documentation.

Is willow/openCV settling on the fiducial package? I'd like to choose the one that works best right now and also won't disappear any time soon... Thanks!

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answered 2011-04-11 07:39:35 -0500

Julius gravatar image

We have used fiducial markers from tod_training for collecting training data and pose estimation and it worked fine so far (using object_recognition in SVN 50321).

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answered 2011-04-11 05:02:00 -0500

You can check out ar_pose, as well as ar_pose_ekf, for a 6D pose estimation using single or multiple AR markers.

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answered 2011-04-11 02:51:34 -0500

I had no success with "checkerboard_detection" in February but was assured by the author, they would update the software "after some time". Haven't tried since.

checkerboard_detector2 works for me.

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Asked: 2011-04-08 09:36:22 -0500

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Last updated: Apr 11 '11