Estimate the position of static ground target

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Estimate the position of static ground target

nwanda
From aerial images I'm able to detect ground targets and convert their position from image pixels to 3D world coordinates: [x y 0].

However since the images are taken from an aerial vehicle and its attitude and orientation estimation is not perfect, the position from the target(s) will have some errors.

Would it be possible to use PCL on the samples obtained from the target detection in order to filter/remove outliers and estimate the position of the target(s)?
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Re: Estimate the position of static ground target

VictorLamoine
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Hello,

Yes this is possible with the PCL;
- There are some outliers filtering algorithm inside PCL
- There are multiple alorithms to align point clouds so that they fit together.

Take a look at the tutorials page, it will give you and idea of what is possible:
http://www.pointclouds.org/documentation/tutorials/

Bye
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Re: Estimate the position of static ground target

nwanda
Thanks for the input and confirmation. The project I'm working on is built in ROS and PCL seems to work as a ROS package as well, but what about its performance in ARM processors? I'm using an odroid for this specific project, do you think it will be problematic?
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Re: Estimate the position of static ground target

VictorLamoine
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I think you will have a lot of problems :) None of them is blocking though. Here is what pops from my head:

http://wiki.ros.org/indigo/Installation/UbuntuARM#Using_RVIZ
First, forget about RViz on the ARM platform!

There are binaries provided for ARM platforms so PCL is really not problematic here, you can also compile the sources if you need a bleeding edge version.

If you plan on working with big point clouds, be careful to create a swap large enough!