Results and Discussion
Marker Non- uniformity
Sensor Dark Pixel Noise
Figure 8.1 The uncertainties affecting different parts of the system are shown. Calibration can reduce the effect of constant unknowns. Modeling can reduce the effect of some varying unknowns. The remainder of the unknowns will reduce the accuracy of the final pose estimate. Point 1 shows the output of a Black Spot module. Point 2 is positioned at the output of the system.
on the markers’ current source and the electrical noise on the analog-to-digital converter in the image sensor. This type of unknown cannot be removed by calibration or modeling, and its effect will be seen at the output of the system.
The major constant unknowns are:
intrinsic camera parameters, i.e. focal length, principal point, pixel size, and sensor
3D marker coordinates,
Black Spot module pose within the hub enclosure, and the
non-uniformity between markers.
The major varying unknowns are:
variation in marker intensity due to power source noise,
variation in marker intensity/marker size due to camera pose,
variation in centroid position due to background image noise,