Resolving Marker Pose Ambiguity by Robust Rotation Averaging with Clique Constraints
Shin-Fang Ch’ng,Naoya Sogi,Pulak Purkait,Tat-Jun Chin,Kazuhiro Fukui,Shin-Fang Ch’ng,Naoya Sogi,Pulak Purkait,Tat-Jun Chin,Kazuhiro Fukui
Planar markers are useful in robotics and computer vision for mapping and localisation. Given a detected marker in an image, a frequent task is to estimate the 6DOF pose of the marker relative to the camera, which is an instance of planar pose estimation (PPE). Although there are mature techniques, PPE suffers from a fundamental ambiguity problem, in that there can be more than one plausible pose ...
