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Aruco best pose estimate - more markers or bigger markers?

asked 2018-09-06 17:44:47 -0500

Polywogon gravatar image

I'm trying to get the best possible pose estimate. My big question is in the title - is it better to have, say, a 2x2 Arucoboard, or a single marker with 4x the area (of those in the Arucoboard)? Occlusion should not be a problem for my application.

Also, I already have seen a large improvement by using corner refinement in the Aruco detector parameters (off by default). What other detector settings should I adjust to improve the pose estimate? How about camera settings? Does having a well-calibrated camera make a big difference for accurate pose estimation?

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answered 2018-09-07 16:06:21 -0500

dpizzle gravatar image

I don't have any definitive proof, but from past experience I'm thinking the bigger the marker would be better than many smaller markers. If you haven't, look into the Aruco 3, it has many improvements that will achieve greater accuracy over the version included in opencv contrib. Watch all the creators videos on it to get a better idea:

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Asked: 2018-09-06 17:44:47 -0500

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Last updated: Sep 07 '18