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asked 2018-04-13 15:06:00 -0600

malharjajoo gravatar image

Orientation (yaw) estimation of AR drone using OpenCV

Hi,

I am working on a project that involves using stereo cameras for obtaining the 3D coordinate of a drone. I am currently trying to obtain orientation (yaw only) estimate of the drone using a pair of external (manually) calibrated stereo cameras.

Are there any ways to do this in OpenCV ? I have seen this tutorial but it does not work for 3D non-planar objects.

Kindly note that while there are some existing posts (like this ) but they are mostly on triangulation for the 3D coordinate, while my question here is on finding the orientation (yaw only) using external stereo cameras.

Orientation (yaw) estimation of AR drone using OpenCV

Hi,

I am working on a project that involves using stereo cameras for obtaining the 3D coordinate of a drone. I am currently trying to obtain orientation (yaw only) estimate of the drone using a pair of external (manually) calibrated stereo cameras.

My Question:

  1. Are there any ways to do this in OpenCV ? I have seen this tutorial but it does not work for 3D non-planar objects.

  2. For 3D non-planar objects it requires a mesh. From the tum_simulator ROS package, I found a few blender .blend files in the project. As I am no expert in 3D modelling, would someone know how to convert the .blend files to the required .yml format used in the tutorial above ?

Note: Kindly note that while there are some existing posts (like this ) but they are mostly on triangulation for the 3D coordinate, while my question here is on finding the orientation (yaw only) using external stereo cameras.

Thanks!

Orientation (yaw) estimation of AR drone using OpenCV

Hi,

I am working on a project that involves using stereo cameras for obtaining the 3D coordinate of a drone. I am currently trying to obtain orientation (yaw only) estimate of the drone using a pair of external (manually) calibrated stereo cameras.

My Question:

  1. Are there any ways to do this in OpenCV ? I have seen this tutorial but it does not work for 3D non-planar objects.

  2. For 3D non-planar objects it requires a mesh. From the tum_simulator ROS package, I found a few blender .blend files in the project. As I am no expert in 3D modelling, would someone know how to convert the .blend files to the required .yml format used in the tutorial above ?

Note: Kindly note that while there are some existing posts (like this ) but they are mostly on triangulation for the 3D coordinate, while my question here is on finding the orientation (yaw only) using external stereo cameras.

Thanks!

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