my robot is standing still but my camera has problem identifiend the 2 april tags at the speaker so it dissapears sometimes , when that happens my robots estimated pose jumpes 10cm back and forth, how can i filter that from happening
What camera/software are you using?
What is the numerical frequency of this problem? Once every 30 minutes? Once a minute? Once a second?
Need details to get detailed help.
First, eliminate all sources of noise that you know of.
- Triple-check the tags are mounted in the right locations, especially relative to each other.
- Re-run camera calibration.
- Confirm you’re not being hit by the 2d-3d ambiguity problem
After that - the best you can do is just averaging the pose estimates.
However, important to note: A consistent “off by X” error with one tag but not another likely implies a systematic error (like mounting the tag at the wrong spot), not a truly random one (like noise in the camera image slightly changing where a tag corner is at).
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- Ignore frames that did not detect an AprilTag
- Ignore frames that have a poor Decision Margin