Скачать или смотреть Real‑Time AprilTag Cylinder Tracking with 2D/3D Overlap Visualization (Work in Progress)

In this video I show my current lab setup for tracking a cylinder using AprilTags and visualizing its overlap with three target circles on the table. The system detects AprilTags, estimates 3D pose, projects the cylinder onto the ground plane, and computes the geometric percentage overlap between the cylinder’s bottom circle and each green circle.

The overlay includes:

3D view with AprilTags, cylinder, and distance/height labels
Live overlap percentages for Circle 1–3
A cropped “working area” view focused on the table
A 2D mini‑map in the corner showing how the cylinder overlaps the three circles from a top‑down perspective
This is an early work‑in‑progress. I’m still refining the math and improving camera calibration (intrinsics and distortion) to get better precision and more stable measurements.

Tech stack: Python, OpenCV (Aruco/AprilTag), NumPy.

#AprilTag #ComputerVision #OpenCV #PoseEstimation #Robotics