Aruco corner refinement poses are unstable in OpenCV 3.2

asked 2017-01-26 13:36:24 -0600

Milkboy gravatar image

I am using a moving camera and a fixed Aruco marker. The 3D pose results I get even as the camera is pretty still vary greatly per frame which is why I claim they are unstable. I determined that the problem goes away when I turn off corner refinement in the Detector Parameters.

So my question is whether there is anyone who knows that stuff well enough to fix it or if it is user error. I have sample code and images that demonstrate one answer with corner refinement and another very different answer without corner refinement.

FYI: we kept the corner refinement defaults because we didn't understand them and only turned on the feature. If this is just our luck for not understanding the feature then I can live with that. My current work around is to just turn it off.

I tried to post two sample pictures that demonstrate a good answer and a bad answer but the system said I don't have enough points.


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have you clone opencv_contrib ? if yes do a git pull to update your repo.

LBerger gravatar imageLBerger ( 2017-01-26 13:42:37 -0600 )edit