Purpose of pose estimations in tod_detecting?

asked 2011-03-23 02:48:18 -0600

Julius
955 ●31 ●45 ●56

What is the purpose of the pose estimations in tod_detecting when recognizing textured objects using "rosrun tod_detecting recognizer --mode=0 ..."? Are they relevant for the recognition process (not running kinect mode)?

image description

(picture showing the estimated pose of a training object, as described by rvec and tvec)

Why do we need to make pose estimations in the tod_training pipeline, apart from using the pose estimation to segment the point cloud to generate a ROI mask? I mean the training pipeline does not really collect any real 3d features.

answered 2011-03-23 07:59:59 -0600

Alexander Shishkov
191 ●5 http://itseez.com/

updated 2011-03-23 08:30:04 -0600

I don't understand first part of your question. We do pose estimation in training for calculation transformation between frames.

mode = xx

Now tod_detecting contains two recognizers. First version of TOD (textured_object_detection package) was implemented for recognizing objects on 5 MP prosilica dataset. Later Ethan and me began to refactor this code. In result we get two versions of detection algorithms: Kinect mode and TOD mode. Kinect mode gives better results on Kinect data, TOD mode gives better results on 5MP data.

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Thanks! I just wondered where the pose estimates are used in detecting objects. In other words, is the pose estimation required in tod_detecting and if so, why? See http://answers.ros.org/question/537/are-my-findings-about-tod_detecting-correct

Julius ( 2011-03-25 06:25:55 -0600 )edit

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