# Questions tagged [pose]

Pose is a typical task is to identify specific objects in a space and to determine each object's position and orientation relative to some coordinate system.

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### AprilTag vs Aruco markers [closed]

AprilTag and Aruco are both popular methods for vision-based fiducial marker pose estimation. What are the pros and cons of each fiducial marker pose estimation systems?
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### Error in Pose(): All values are zero for turtlesim/Pose

Here is the program I have written. The function is to make the turtlesim complete one revolution, with a fixed angular velocity and speed. ...
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### How to calculate extrinsic calibration of a non-overlapping multicamera rig?

thanks for taking the time to check my question. Firstly, let me describe the current configuration, I am using 4 cameras that produce non-overlapping images and the goal is to calculate their ...
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### Reset coordinate system of robot while maintaining relationship to the previous

I am currently estimating a robot's pose (3d position and rotation matrix) with an IMU and I want to reset the localizer in the middle of the run while keeping the relationship to the pose it had when ...
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### What's the difference between the term “pose estimation” and “visual odometry”?

I'm reading a paper: Choi C, Trevor A J B, Christensen H I. RGB-D edge detection and edge-based registration[C]//Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on....
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### How to detect writing on a chalkboard? [closed]

I've got an idea for a simple robot (with an Arduino or something similar) that will play noughts-and-crosses (aka tic-tac-toe) on a chalkboard, so that kids can play against it. It will use a couple ...
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### Perspective N point solution: Position drifting linearly with rotation angles?

I am using a PNP algorithm to compute the rotation and translation of a camera given pre-mapped 3D points, and their corresponding projections on the 2D plane. The algorithm I am using is the one ...
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### How many AR markers should I use to get the object pose?

I'd like to get the object pose based on the attached AR marker to the object. I believe I only need one tag to get the 6D pose. However, I sometimes see more than one AR markers are used in the ...
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### Which is the best visual fiducial marker (2D barcode)?

Which is the best visual fiducial marker (2D barcode) for detection and robust and accurate pose estimation? Im not looking for a fiducial marker which can store lot of information. The main goal is ...
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### What is the difference between object pose estimation and object tracking?

In papers the terms object pose estimation and object tracking are used side by side with different meanings. Can somebody explain me the difference?
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### Full 3D Pose (Scale, Rotation and Translation) Estimation using Gyro and Acceleromter sensors fusion

I am implementing a 3D pose estimation algoriothm on mobile device (Android) which has Gyro, Accelerometer and Magnetometer sensors. I have already develeoped a Visual SLAM algoirthm to estimate full ...
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### Help with fusing multiple measurements with known covariances

I am working on an estimation application for multiple robots, each of which uses measurements from various sources to calculate position and orientation data. For now, I am looking at about three ...
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### Resources for object detection with 2D Laser Scanner (planar only)

Would you happen to know some good books, tutorials or articles on how to detect objects and their poses, using 2D laser scanners? My goal is to equip a mobile robot with a laser scanner for object ...
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### Determining pose from ar_track_alvar message in ROS

I am using the ar_track_alvar package in Indigo to detect AR Tags and determine their respective poses. I am able to run the tracker successfully as I can visualize the markers in RViz. I give the ...
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### Is there an alternative to manifolds when using quaternions for orientation representation in Pose Graph SLAM?

I want to implement my own pose graph SLAM following [1]. Since my vehicle is moving in 3D-space i represent my pose using a 3D-translation vector and a quaternion for orientation. [1] tells me that ...
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### Step size in numerical differentiation

I get position information and a corresponding timestamp from a motion tracking system (for a rigid body) at 120 Hz. The position is in sub-millimeter precision, but I'm not too sure about the time ...
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### Choosing the state vector for an EKF

Could someone help me understand the logic behind choosing a particular state space vector for an EKF? Context: Say there is a 4 wheeled robot that operates only in 2D. It is equipped with an ...
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### How do I go about implementing a Kalman Filter for a pose estimation algorithm?

I am currently in the process of writing a pose estimation algorithm using image data. I receive images at 30 fps, and for every image, my program computes the x,y,z and roll, pitch, yaw of the camera ...
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### Kalman filter for estimating position with “direction” measurements

I am currently working on a pose estimation problem for which I would like to use filtering. To explain the system briefly, it consists of two cameras and each has its own GPS/IMU module. The main ...
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### Pose estimation, how to populate set of known edges and points?

I am building an estimator that solves for the camera pose relative to a reference frame which contains a known set of features and edges. Currently, the system works with an unscented kalman filter ...