Category Archives: MOBOT

Three-Dimensional Aruco Boards

I am using Aruco tags to locate mobile robots relative to one another. I have mounted tags on the robots using cubes so that at least one tag will be visible from every side of the robot. In the picture … Continue reading

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OpenCV Charuco-Board Pose Estimation

The OpenCV Charuco-board pose estimation tools can provide localization estimation relative to your camera. The red-green-and blue axes drawn at the upper-right of the charuco-board taped to my wall indicates the pose estimate. These instructions are not particularly user-friendly, but … Continue reading

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OpenCV Charuco Camera-Calibration

OpenCV is an amazing tool that can provide accurate pose information in real-time, but first you have to provide it with a model of your camera. The opencv_interactive-calibraiton tool nominally provides that capability. Follows is a record of how I … Continue reading

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Johnny 4 – CMU MOBOT 2012

This year I entered the 2012 CMU MOBOT ┬ámobile robot competition. I had a nice finished physical robot and a capable vision system but I didn’t finish in time to get it working well. Here I will document my entry … Continue reading

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