Object locator with fiducial marker
From detecting a marker detected in an image, a physical object on which the marker is provided can be identified. Based on a determining a location of the marker in the physical world, a location and an orientation of the physical object can be determined.
1. A computer comprising a processor and a memory, the memory storing instructions executable by the processor to:
identify, from detecting a marker detected in an image, a physical object on which the marker is provided; and
based on determining a physical world location of the marker, determine a location and an orientation of the physical object in the physical world, including a height of the physical object from a ground surface, wherein the height is determined based on locating the marker with respect to a three-dimensional map.
2. The computer of claim 1 , wherein the orientation includes a pitch, a yaw, and a roll.
3. The computer of claim 1 , the instructions further comprising instructions to detect a second marker in the image, and determine the location or orientation of the physical object based on a location of the second marker in the physical world in addition to the location of the marker in the physical world.
4. The computer of claim 1 , the instructions further comprising instructions to retrieve dimensions of the physical object upon identifying the physical object from determining the marker, and determine the location and the orientation of the physical object in part based on the dimensions.
5. The computer of claim 1 , the instructions further comprising instructions to determine, from the image, a first physical distance between first and second indicia in the marker, and, based in part on the first physical distance, then determine a second physical distance of the marker from a camera used to capture the image.
6. The computer of claim 1 , the instructions further comprising instructions to include the object in a map of a physical environment.
7. A system comprising:
a first computer that includes a first processor and a first memory, the first memory storing first instructions executable by the first processor to:
identify, from detecting a marker detected in an image, a physical object on which the marker is provided, wherein the physical object is a vehicle; and
based on determining a physical world location of the marker, determine a location and an orientation of the physical object in the physical world, including a height of the physical object from a ground surface, wherein the height is determined based on locating the marker with respect to a three-dimensional map; and
a second computer that includes a second processor and a second memory, the second memory storing second instructions executable by the second processor to actuate a component of the vehicle based on the location and the orientation received from the first computer and that were determined in the first computer based on the physical world location of the marker.
8. The system of claim 7 , wherein the orientation includes a pitch, a yaw, and a roll.
9. The system of claim 7 , the first instructions further comprising instructions to detect a second marker in the image, and determine the location or orientation of the physical object based on a location of the second marker in the physical world in addition to the location of the marker in the physical world.
10. The system of claim 7 , the first instructions further comprising instructions to retrieve dimensions of the physical object upon identifying the physical object from determining the marker, and determine the location and the orientation of the physical object in part based on the dimensions.
11. The system of claim 7 , the first instructions further comprising instructions to determine, from the image, a first physical distance between first and second indicia in the marker, and, based in part on the first physical distance, then determine a second physical distance of the marker from a camera used to capture the image.
12. The system of claim 7 , the first instructions further comprising instructions to include the object in a map of a physical environment.
13. A method, comprising:
identifying, from detecting a marker detected in an image, a physical object on which the marker is provided; and
based on determining a physical world location of the marker, determining a location and an orientation of the physical object in the physical world, including a height of the physical object from a ground surface, wherein the height is determined based on locating the marker with respect to a three-dimensional map.
14. The method of claim 13 , wherein the orientation includes a pitch, a yaw, and a roll.
15. The method of claim 13 , further comprising detecting a second marker in the image, and determine the location or orientation of the physical object based on a location of the second marker in the physical world in addition to the location of the marker in the physical world.
16. The method of claim 13 , further comprising retrieving dimensions of the physical object upon identifying the physical object from determining the marker, and determine the location and the orientation of the physical object in part based on the dimensions.
17. The method of claim 13 , further comprising determining, from the image, a first physical distance between first and second indicia in the marker, and, based in part on the first physical distance, then determine a second physical distance of the marker from a camera used to capture the image.
18. The method of claim 13 , further comprising including the object in a map of a physical environment.
19. The method of claim 13 , wherein the object is a vehicle, the method further comprising actuating a component of the vehicle based on the location and the orientation that were determined based on the physical world location of the marker.