[Autonomy] Localization using AruCo Marker

vanderbiltrobotics / NASA-RMC-2018-2019

ROS Packages for NASA Robotic Mining Competition 2018-2019

MIT License

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[Autonomy] Localization using AruCo Marker #6

Closed SwapnilPande closed 4 years ago

SwapnilPande commented 5 years ago

Which section of robot code is this for? Vision (Markers)

Description of feature Develop code to calculate the robot pose using a camera and OpenCV AruCo Camera:

Build class for AruCo pose estimation
Quantify the error in the pose estimation
Determine allowed operating conditions for AruCo based pose estimation (max angle, max distance, etc.)
Compute transformation from AruCo Coordinates to Robot Coordinates
Build ROS Node to run calculations

rong-wang commented 5 years ago

AruCo marker detection code written, we are in process of testing z values returned in the camera is looking at AruCo board at an angle.

rong-wang commented 5 years ago

Tested AruCo detection code today with AruCo board. Results showed that at around 3 meters - 6 inches, board started being unable to be detected (board was printed on sheet of copy paper).

partlygloudy commented 5 years ago

Rong and I got an aruco localization node running. Still needs some improvements such as using ROS parameters to configure various settings but a very good start. After those improvements are done, we'll want to test with a variety of board configurations to see which ones produce the best results. We also need to determine how we're going to build and mount the board on the collection bin