sihanwang-whu/pose-tracking-for-aruco-markers-using-kalman-filter

A robust but simple object pose tracking algorithm based on Kalman filtering.

Pose-Tracking-for-Aruco-Markers-using-Kalman-Filter

A robust but simple object pose tracking algorithm based on Kalman filtering.

pose-tracking-for-aruco-markers-using-kalman-filter's Issues

Changing Kalman filter parameters

Hello , i would like to thank you for sharing this script its really helpful and i would like some advise on how to change the parameters to get the best result for the tracking. Thank you !

Quick question regarding jumps

Hi there,

First of all, thank you very much for this piece of code, you solved a lot of my problems by publishing it.
I have a question regarding the filtering. I notice when i take a marker away, (out of the image) the values do a jump. This only seems to happen with the highest ID marker. I would love to use this piece of code as basis for a hobby project where a device gets tracked on a field of markers but markers sometimes disappear out of the field of view, this causes jumps.
Any idea on how to solve this?
Here is a link to a video that shows what i mean, The black window is showing the x y offsets in a visual way with the white square.
The glitch only happens with the most left id in the row. (in this case 19)
https://youtu.be/t91LCGdnSi0

Apart from this this is the most fast and stable code without huge libraries that i have found!
Also, if you have paypal i would like to donate some coffee or beer money, this is the best piece of code i came across in the past 4 days :)

Kind regards