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UbiquityRobotics / fiducials

Simultaneous localization and mapping using fiducial markers.
BSD 3-Clause "New" or "Revised" License
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fid0 #207

Open lbv-h opened 4 years ago

lbv-h commented 4 years ago

Hi, I want to use fiducials for pose estimation of a robot. However, I am getting the wrong results.

In screenshots below true robot's position is depicted by the blue arrow and the estimated robot's position is depicted by the red arrow. I am using a predefined fiducial map that contains fiducials with ids from 1 to 7. But I have noticed there is a fiducial with id 0 (fid0) that is moving randomly in the world.

I am wondering what fid0 is. Does it affect the robot's pose estimation? Probably you could give me a hint why the robot's pose estimation doesn't work fine for me?

Thanks for your help!

Screenshot_4

Screenshot_7

JanezCim commented 4 years ago

I also see fid0 randomly appearing, but it does not seem to be bothering the fiducial slam