IVPS

Indoor Vision based Positioning System (Under Construction)

Setting

Requirement

• Assuming ROS Kinetic Environment on Ubuntu
• Python2.7 with OpenCV3.X with Opencv-contrib package

To install opencv with contrib package, type

pip install opencv-contrib-python

Usage

import cv2
import numpy as np
import sys
import math

sys.path.append("../")

from vmarker import *

Program Flow

Detect Camera Pose

• Put marker on the ground and write its coordinate to csv file
• Camera pose is solved from PNP solver

Tracking the Interested Region

• RedTracker.py provide the tracking algorithm

Give Marker Height and Get 3D Position

• Given the height of the tracking point, Marker position is solved via homogeneous linear equations