For the Pi camera with 14cm fiducials mounted on the ceiling with a ground based robot, in a well lit room we get position data that is good down to a couple cm. The biggest problem is noise in the pose estimates of single fiducials, as a couple pixels of noise can change the angular estimate wildly. We have a method in the works that instead of doing individual marker pose estimates, does a more sophisticated approach using a single pose estimate on all the detected marker vertices. We want to have the data set and testing to measure if it is actually an improvement before merging though. Rohan --- [Visit Topic](https://discourse.ros.org/t/fiducial-marker-based-localization-system-package-annoucement/4050/5) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: