Pose tracking for an object with 4 spheres (markers)

asked 2017-03-23 21:42:04 -0600

ARYL518 gravatar image

Hi, I have an object with four sphere with coordinates (center of the sphere): A: 0.0, 0.0, 0.0 B: 0.0, 0.0, 50.0 C: 0.0, 25.0, 100.0 D: 0.0, -25.0, 135.0

There four spheres have diameter around 1 cm and have a gray color. The capture video has YUV format. To track the pose of the object, I think I need to first detect the center of the four spheres in the video. Any suggestion about a fast sphere detection?

After detect the spheres, I am not sure treating the object as a planar object and use SolvePNP to estimate pose or treating the object as a 3D object and use POSIT to estimate pose.

Thanks a lot.

YL

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Comments

1

In my opinion, it should not be a sphere detection but rather an ellipse detection as you work in the 2D image plane.

SolvePnPdoes not need the 3D object to be planar and from my knowledge POSIT belongs to the PnP problem class.

Eduardo gravatar imageEduardo ( 2017-03-24 05:17:50 -0600 )edit

Also gray spheres? Normally a calibration sphere has specific colors, so that separating them is a lot easier.

StevenPuttemans gravatar imageStevenPuttemans ( 2017-03-24 08:06:56 -0600 )edit

Thanks. Would you please let me know how to do ellipse detection for a YUV format video?

ARYL518 gravatar imageARYL518 ( 2017-04-15 19:29:47 -0600 )edit
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