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duckietown / lib-dt-apriltags

Python bindings to the Apriltags library
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Unable to detect apriltag in image with illumination noise #16

Open mishti-29 opened 3 years ago

mishti-29 commented 3 years ago

https://stackoverflow.com/questions/68743775/remove-illumination-noise-from-image-to-detect-april-tag I am trying to detect apriltags in real-time live feed using lib-dt-apriltags library. As per my knowledge,detection of apriltag is possible when we have clear edges.But because of the illumination / glare / reflection due to light,the edges are not clearly visible and I am unable to detect it.I cannot implement heavy computation in my processor so how to proceed with this problem or what are the possible solution for successful detection of tag? Also I have tried to apply otsu,adaptive thresholding to image but it did not help much in successfully detecting tag. 6MAly 15_01_44_150621

afdaniele commented 2 years ago

In this case you have two problems.

  1. There is a glare produced by the lens that is messing up with one of the borders of your tag. There isn't much you can do via software here, avoid glares;
  2. Apriltag detection is based on the assumption that the brightest and darkest regions of your image correspond to the white and black parts of your tag. In your picture, the bloom is way brighter than the white part of the tag and the black cables are darker than the tag;