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The camera_pose_estimation stack contains extensions to the ar_pose package from ccny to allow tracking one marker with multiple cameras. The stack packages convert each measurement (taken relative to each camera) to a global measurement (relative to the world frame) and fuse the different estimates using an Extended Kalman Filter. A visualization node for rviz is provided as well.

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Wiki: camera_pose_estimation (last edited 2010-10-05 21:20:44 by MeloneeWise)