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Camera pose (pitch, roll, yaw) from observing ceiling from two different positions

asked 2015-01-20 00:35:33 -0500

Mehdi gravatar image

Until now I was using AR Markers for estimating the angles of my camera mounted on a robot. But I believe there is enough information in corners matched between two images of a planar ceiling taken from for example positions (x, y, z) and (x+1, y, z) where there is a known translation between both positions. The coordinate are defined in the world frame in which the ceiling is at z = constant. I am trying to figure out what the equation would be but with no success yet.

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answered 2016-10-12 13:23:32 -0500

x10s gravatar image

updated 2016-10-12 13:25:12 -0500

Have you tried using the matched image co-ordinates from the two images of the planar surface and computing the homography to calculate the euler angles(i.e. pitch, yaw and roll) ?

P.S Apologies for the throwback as I just noticed this question is from more than a year ago.

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Optimization or Kalman filter worked for me.

Mehdi gravatar imageMehdi ( 2016-10-14 08:37:55 -0500 )edit
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Asked: 2015-01-20 00:35:33 -0500

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Last updated: Oct 12 '16