[ros-users] [Discourse.ros.org] [General] Fiducial Marker Based Localization System - Package Annoucement

Kye Morton ros.discourse at gmail.com
Wed Feb 28 03:29:07 UTC 2018

I had a little bit more of a look through your code, but it was a bit rushed so forgive me if I missed it, do you make any assumptions about marker placement? I found that it really helped my estimations during the marker pose estimate step to have an option to allow aligning the marker with a plane.

As a lot of the use cases for your markers may be on a single ceiling of constant height, it's relatively easy to project the marker estimate from the camera such that you can take the pose at the intersection with the common plane. Not sure how the SLAM methods work with this, but it may be worth considering if you haven't already!

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