Camera Based Pose Estimation

In this project, we compare the performance of Aruco marker-based pose estimation approach with a deep learning-based marker-less method.

Step 1 - Intrinsic Camera Calibration

1. Refer to the detailed documentation provided here - camera calibration.

Step 2 - Extrinsic Calibration

In simple terms, extrinsic calibration involves finding the relative position and orientation between two cameras.

1. Calibrate the cameras individually using the instructions above.
2. Use OpenCV's stereoCalibrate to find the relative pose between two cameras.

Step 3: Homography Computation

For understanding basic concepts about homography transformations, refer to this link