solvepnp

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ROS 2 pose-estimation node for AprilTag-based localization of an autonomous surface vessel. Consumes tag detections from apriltag_detector, solves per-tag pose with solvePnP, fuses multi-tag views via Markley quaternion averaging, and publishes a 6-DoF vessel pose.

I built this project to comparatively study different pose estimation algorithms side-by-side. It was a practical investigation into the nuances of ArUco, PCA, and SolvePnP to understand how each calculates 3D position and orientation from 2D data.

Hands-free multi-monitor window focus switcher for Windows 11 driven by head pose. Estimates head yaw from your webcam (MediaPipe Face Mesh + OpenCV solvePnP) to automatically bring the window on the monitor you're facing to the foreground. CPU-only, single-process Python 3.11, no GPU required.

Facial Emotion Recognition from sequential images using ML techniques (thesis) / Αναγνώριση συναισθηματικής κατάστασης προσώπου από ακολουθιακές εικόνες με χρήση τεχνικών μηχανικής μάθησης

Real-time camera calibration and augmented reality system using OpenCV. Implements checkerboard corner detection, camera intrinsic estimation, pose tracking with solvePnP, 3D virtual object projection, and Harris corner feature detection.

ArUco pose estimation error analysis and closed-loop visual docking for a differential-drive AMR. Measures where the apparent-width method breaks against exact synthetic ground truth, then proves it closed-loop.