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I have seen several different solutions to 6D pose estimation in ROS/opencv:

checkerboard_detector

checkerboard_detector2

checkerboard_pose_estimation

datamatrix

fiducial

datamatrix seems less accurate than the checkerboard approach, but the checkerboard packages seem to no longer be supported. The fiducial package seems new (used in the tod_training contest), but there is no documentation.

Is willow/openCV settling on the fiducial package? I'd like to choose the one that works best right now and also won't disappear any time soon... Thanks!


Originally posted by sdavies on ROS Answers with karma: 88 on 2011-04-08

Post score: 2

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3 Answers 3

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We have used fiducial markers from tod_training for collecting training data and pose estimation and it worked fine so far (using object_recognition in SVN 50321).


Originally posted by Julius with karma: 960 on 2011-04-11

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Post score: 3

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I had no success with "checkerboard_detection" in February but was assured by the author, they would update the software "after some time". Haven't tried since.

checkerboard_detector2 works for me.


Originally posted by Felix Endres with karma: 6468 on 2011-04-11

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You can check out ar_pose, as well as ar_pose_ekf, for a 6D pose estimation using single or multiple AR markers.


Originally posted by Ivan Dryanovski with karma: 4954 on 2011-04-11

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