https://github.com/simbaforrest/masfm

Marker Assisted SfM for marker-based pose estimation system
https://github.com/simbaforrest/masfm

markers pose pose-estimation sfm

Last synced: 26 days ago
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Marker Assisted SfM for marker-based pose estimation system

• Host: GitHub
• URL: https://github.com/simbaforrest/masfm
• Owner: simbaforrest
• License: bsd-2-clause
• Created: 2016-01-26T02:48:33.000Z (over 9 years ago)
• Default Branch: master
• Last Pushed: 2020-07-16T21:45:46.000Z (about 5 years ago)
• Last Synced: 2025-01-03T08:12:03.994Z (9 months ago)
• Topics: markers, pose, pose-estimation, sfm
• Language: MATLAB
• Size: 4.96 MB
• Stars: 12
• Watchers: 2
• Forks: 5
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# MASfM

Marker Assisted Structure from Motion (SfM) for marker-based pose estimation systems

![3D visualization](https://github.com/simbaforrest/masfm/raw/master/data/masfm.gif)

# Demo Video

[![Alt text](https://img.youtube.com/vi/ZUpVDfPQbFM/0.jpg)](https://www.youtube.com/watch?v=ZUpVDfPQbFM)

# Dependencies

* [OpenCV](http://opencv.org/downloads.html)   

  Version 2.4.x is recommended.

* [Ceres Solver](https://github.com/simbaforrest/ceres-windows)   

  Precompiled VS2010 x86 static version is available [here](https://github.com/simbaforrest/ceres-windows/releases/download/1.11.0/ceres-windows-1.11.0-static-vc10.7z)

# Build

Use CMake to generate VS project files. Compiled and tested under Windows 7/10 with VS2010.

Detailed build instructions TBD.

# Reference

1. Feng, C., Kamat, V. R., & Menassa, C. C. (2016). Marker-Assisted Structure from Motion for 3D Environment Modeling and Object Pose Estimation. Construction Research Congress, 2604-2613.

2. Feng, C., Xiao, Y., Willette, A., McGee, W., and Kamat, V. R. (2015). Vision guided autonomous robotic assembly and as-built scanning on unstructured construction sites. Automation in Construction, 59, 128-138.

3. Feng, C., and Kamat, V. R. (2013). Plane Registration Leveraged by Global Constraints for Context‐Aware AEC Applications. Computer‐Aided Civil and Infrastructure Engineering, 28(5), 325-343.