Fiducial marker or camera pose estimation

 

Let's say, we've got an Aruco marker and we want to estimate a camera pose. We can use estimatePoseSingleMarkers() function, which is based, as I understood, on solvePnP() function. So, help me, please, answer the next two questions:

  • What are the reference points of Aruco (keypoints or features) used in PnP algorithm?
  • How does this algorithm decide which points in the real scene and in the image should be matched? In other words, how the 3d-2d correspondences are done?

    • Thanks.

    I am not too familiar wir Aruco, but I can answer the second question.

    The algorithm doesn't do the job for you. You need to perform the matching and then feed them into the solvePnP function in a ordered form.

    You might want to have a look at FLANN matcher

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