Вы находитесь на странице: 1из 47

(Itseez)

Roboconf, 2013



OpenCV:
-
7M
BSD

Willow Garage

2008-2013 .

3D


~10
640x480

one-way
(Hinterstoisser
et al, 2009)






Victor Eruhimov, Wim Meeussen


Outlet detection and pose estimation for robot continuous operation.
IROS 2011
Wim Meeussen et al.
Autonomous door opening and plugging in with a personal robot.
ICRA 2010

:
http://wiki.ros.org/outlet_pose_estimation

3D

Image: http://www.dispatch.com/content/stories/business/2011/09/19/household-robot-not-so-futuristic.html

3D

:

M. Martinez, A. Collet, and S. Srinivasa

MOPED: A Scalable and Low Latency Object Recognition and Pose


Estimation System
IEEE International Conference on Robotics and Automation (ICRA
'10), May, 2010.

A. Collet, D. Berenson, S. Srinivasa, and D. Ferguson

Object Recognition and Full Pose Registration from a Single Image


for Robotic Manipulation
IEEE International Conference on Robotics and Automation (ICRA
'09), May, 2009 (Best Vision Paper Award Finalist in ICRA '09)

RGB-

3D

0
k1

RGB-

fx
@0
0
k2

0
fy
0
p1

cx
cy A
1

p2

...



(
)

:

:
R
t


R: (3 3)
t: (3 1)

3D

:
S. Hinterstoisser et al.
Multimodal templates for real-time detection of
texture-less objects in heavily cluttered scenes.
IEEE International Conference on Computer
Vision (ICCV), 2011

:
OpenCV (opencv.org)

2D 3D
:

S. Hinterstoisser et al. Multimodal templates for real-time detection of


texture-less objects in heavily cluttered scenes. ICCV, 2011

3D


:

:



3D
:

RGB-
Kinect

( NaN)


GrabCut

I. Lysenkov, V. Eruhimov, G. Bradski


Recognition and Pose Estimation of Rigid Transparent Objects with a
Kinect Sensor
2012 Robotics: Science and Systems Conference (RSS 2012).

I. Lysenkov, V. Rabaud
Pose Estimation of Rigid Transparent Objects in Transparent Clutter
IEEE International Conference on Robotics and Automation (ICRA
13), May, 2013.

http://github.com/wg-perception/transparent_objects

3D


3D ,
:


:
M. Dimashova, I. Lysenkov, V. Rabaud, V. Eruhimov
Tabletop Object Scanning with an RGB-D Sensor,
3rd Workshop on Semantic Perception, Mapping and
Exploration (SPME), 2013 (in conjunction with ICRA
2013)

:
http://bit.ly/reconst3d


,
Willow Garage Itseez:

LINE-MOD
tabletop
TOD (Textured Object Detection)
transparent_objects
http://wg-perception.github.io/object_recognition_core/

www.itseez.com

Оценить