Tracking Rectangles

[mikegrundvig]

The whitepaper is extremely useful but the part I needed help with is actually what's glossed over the most. My understanding is that it's fully possible to determine both angle and distance from the target by the skew of the rectangle and the size. Here is a quote from the whitepaper:

"Shown to the right, the contours are fit with lines, and with some work, it is possible to identify the shared points and reconstruct the quadrilateral and therefore the perspective rectangle"

Except it stops there. Have any other reading or direction you can send us to take this the rest of the way? I'd really like our bot to be able to find it's location on the floor with the vision targets and unless we are straight-on, this is going to require handling the angle. Thanks!

-Mike