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Quality of Aruco Marker Estimate

asked 2017-09-14 16:55:06 -0600

LPE gravatar image

I have a problem with the cv::aruco::detectMarkers sometimes gives quite boot estimates for the border of the marker. I can generally tune the detection parameters to get a good fit, but would very much like if I somehow could get an estimate of the quality of the fit, thereby allowing the application to automatically reject poor estimates.

Any suggestions for how to obtain such a measure of quality. I have been looking into using the number of rejectedPoints, but it does not appear to be consistent with the kind of errors I occasionally see in the detection.

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answered 2017-09-14 19:17:29 -0600

dpizzle gravatar image

I don't think Aruco can return the "quality of fit". Maybe look into applying a Kalman filter that will smooth the data and reduce jitter. Either 2d filter for the four corners or a 3d filter on the pose estimation. The bottom of this page has some info for filtering pose:

This video illustrates it well:

Probably doesn't need to be said, but if there's any way to acquire a higher resolution source image, you'll see a substantial increase in detection quality.

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Asked: 2017-09-14 16:55:06 -0600

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Last updated: Sep 14 '17