VISION BASED NAVIGATION

Check calibration directory for camera calibration scripts

DIRECTORY STRUCTURE

REQUIREMENTS

• Raspberry Pi 4B
• Raspberry Pi Camera Module 2
• OpenCV version 4.6.0
• Numpy version 1.24.2

PINHOLE CAMERA MODEL

Camera frame axis definition

• Z-axis: Points along the optical axis of the camera (forward, towards the scene the camera is observing).
• X-axis: Typically points to the right (horizontal) in the camera's image plane.
• Y-axis: Points downward in the camera's image plane (vertical).

ArUco Marker Frame

ArUco marker frame axis definition

• Z-axis (blue): Points outwards
• X-axis (red): Points to the right
• Y-axis (green): Points upwards