Mezzanine User Manual, Version 0.00

Andrew Howard

Mezzanine is an overhead 2D visual tracking package intended primarily for use as a mobile robot metrology system. It uses a camera to track objects marked with color-coded fiducials, and infers the pose (position and orientation) of these objects in world coordinates. Mezzanine will work with almost any color camera (even the really cheap ones), and can correct for the barrel distortion produced by wide-angle-lenses.

Mezzanine is language and architecture neutral: object poses are written into a shared memory-mapped file which other programs can read and make use of as they see fit. Mezzanine itself is written in pure C and was developed under Linux on x86 hardware.