Hey Prasad, 2010/11/18 Ivan Dryanovski : > Hi Prasad, > > Inline replies below: > >> 1. Does it stores a pattern and matches it when live camera is running? > > Yes. > >> 2. Can i work with only single camera OR a pair to get the marker? Does >> camera_info topic requires stereo camera? > > You don't need a stereo camera setup. Since you know the size of the > marker in advance, you can estimate it's 3D position with a single > camera. > >> 3. Will i be able to work on ar_pose_ekf to estimate accurate position using >> single camera? Since i have memory constraints so i am avoiding stereo >> vision process. I have Hokuyo-URG-04 and Odometry sensors. I want to fuse it >> with my existing sensors to get more precise localization inputs. > > The ar_pose_ekf was developed to work in conjunction with ar_pose. If > you have more than one camera, the different estimates for the marker > pose can be merged together using ar_pose_ekf. If you are only using a > single camera, you probably don't need to use ar_pose_ekf (although it > might help smooth out the result - I haven't tested it myself). Like Ivan says, the ar_pose_ekf allows you to track a single marker with multiple camera's. It's in fact a Kalman filter implementation to get rid of the noise on the measurements, which allows you to use it with a single camera as well to smoothen the estimates. The behaviour depends on the configuration values which you put in (system model / noise - measurement model / noise - etc). Let us know if you have any more questions about it, we can give you some tips on how to set those values. Steven > >> 4. How it works in light different light intensities? > > It should handle reasonable variation in the light conditions. The > best thing would be to just try it out. > >> I hope all my questions are relevant. > > Let me know if you need any further help! > > Ivan Dryanovski > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >