Pure pursuit algorithm implementation from 2D camera image

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Hi,
I want to implement pure pursuit algorithm but any example I find on the internet is from bird's eye view perspective and I don't reall know how to use it in my example.
From my camera image I have coordinates (x,y) of my marker and x,y of middle of my camera image. Can I (and if yes then how) implement it somehow in pure pursuit to make my robot follow the marker? I also know the realistic distance between my robot and the marker but I don't have the realistic coordinates of them on the plane.
Thanks for any help, because Im really lost at this point.
Here is a wiev of my dected marker, I have coordinates of its blue center and of the camera center that I marked as red dot.
And also the Peter Corke's simulink model I'd like to alter to use with my data.

Answers (1)

yanqi liu
yanqi liu on 20 Nov 2021
sir,may be upload some images to analysis,such as

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R2021a

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