[ros-users] ar_pose orientation accuracy

Steven Bellens steven.bellens at mech.kuleuven.be
Mon Nov 8 13:53:39 UTC 2010

2010/11/8 Steven Bellens <steven.bellens at mech.kuleuven.be>:
> Hi,
> I'm experimenting a bit with the ar_pose package. I'm using a single
> fixed camera to track a moving marker. To verify the estimation
> accuracy, I just leave the marker fixed and I've plotted position and
> orientation estimates. The position estimates are pretty much
> constant, but the orientation estimates are oscilating a lot (see
> appendix), and apparently always between two values. Is this because
> of the bad capability to estimate that orientation or can this be
> caused by the environment conditions (light - set-up - distance to
> marker)?

For clarity, plotted are the 4 components of a unit quaternion.

> regards,
> Steven

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