Page - 10 - in Joint Austrian Computer Vision and Robotics Workshop 2020
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Figure2.Poseestimatesusing theOpenCVsolvePnPalgorithm, for imagescapturedatdescribedsix locations. Different
colours are for different methods with black being ground truth locations. Different symbols mark the six different
locations. Unitsare incentimeters. The6coordinatesystemsgive theposeof the robot. Theaccuracy inestimatingy and
errors inxare similar as with the previous experiment. The point symmetry about the origin for the iterative algorithm is
visible, having incorrectlyflippedall three axis signs. Variance stays largely the sameevenwith largerz.
left half are not simply mirrored across the z-axis.
The distance gets consistently underestimated yet it
seemswith largerabsolutevalueofx inground-truth
theabsoluteestimatesinxalsoseemtoincrease. The
estimatesforthelocationKleft farbreakthispattern,
beingveryclose to theestimates forKamcl, the loca-
tionwhere thevisionbasednavigationissupposedto
takeoverafterusingamcl localization. It canalsobe observed that variance only slightly increases about
the estimates in zwith increasing z distance. Clus-
ters are very compact, an improvement compared to
the first experiment. This can be attributed to using
more precise intrinsic camera parameters. It is also
visible that all algorithmsareaccurate forestimating
the smalloffset iny.
Unfortunately, the reason for this seemingly sys-
10
Joint Austrian Computer Vision and Robotics Workshop 2020
- Title
- Joint Austrian Computer Vision and Robotics Workshop 2020
- Editor
- Graz University of Technology
- Location
- Graz
- Date
- 2020
- Language
- English
- License
- CC BY 4.0
- ISBN
- 978-3-85125-752-6
- Size
- 21.0 x 29.7 cm
- Pages
- 188
- Categories
- Informatik
- Technik