Stereo solvePnP

spearson23
Tue, 22 Oct 2024 13:36:25 +0000
Uncategorized

I have a robot moving around a static environment with AprilTags in known locations. The current system I have, uses solvePnP on a single camera to get the location of the robot from the AprilTags, but due to tag ambiguity, noise and motion blur this isn’t always accurate.

I have the ability to get a stereo camera which I was hoping would help some of these issues, but looking through the solvePnP docs, I don’t really know how to use data from multiple cameras.

Does anyone know where to start with this?
Do I somehow use stereoRectify first before solvePnP?
Do I use solvePnP separately and then somehow merge the resulting matrices?
Is there a better way?
Will switching to stereo camera really help the issue?

2 posts - 2 participants