In the last weeks we thought a lot about our camera detection system. We had an idea to find the middle point of all cans, so we can drive to this point and pick up all cans at the same time. We do this by finding the middle point of each can using the ArUco-tags and then finding the middle point of the middle points.
Here’s a quick visualisation:
This looks like the following in code:
The code needs to be optimized and the camera calibrated, in order to get the best results.
(author: Emanuel)