pose-estimation

I have a rectangular target of known dimensions and location on a wall, and a mobile camera on a robot. As the robot is driving around the room, I need to locate the target and compute the location of the camera and its pose. As a further twist, the camera's elevation and azimuth can be changed using servos. I am able to locate the target using OpenCV, but I am still fuzzy on calculating the camera's position (actually, I've gotten a flat spot on my forehead from banging my head against a wall for the last week). Here is what I am doing: Read in previously computed camera intrinsics file Get

I am trying to get a global pose estimate from an image of four fiducials with known global positions using my webcam. I have checked many stackexchange questions and a few papers and I cannot seem to get a a correct solution. The position numbers I do get out are repeatable but in no way linearly proportional to camera movement. FYI I am using C++ OpenCV 2.1. At this link is pictured my coordinate systems and the test data used below. % Input to solvePnP(): imagePoints = [ 481, 831; % [x, y] format 520, 504; 1114, 828; 1106, 507] objectPoints = [0.11, 1.15, 0; % [x, y, z] format 0.11, 1.37, 0

I have a calibrated camera (intrinsic matrix and distortion coefficients) and I want to know the camera position knowing some 3d points and their corresponding points in the image (2d points). I know that cv::solvePnP could help me, and after reading this and this I understand that I the outputs of solvePnP rvec and tvec are the rotation and translation of the object in camera coordinate system. So I need to find out the camera rotation/translation in the world coordinate system. From the links above it seems that the code is straightforward, in python: found,rvec,tvec = cv2.solvePnP(object_3d