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table top segmentation from kinect

asked 2011-06-20 21:44:43 -0500

Dina Abdel-Hamid gravatar image

updated 2016-10-24 09:01:58 -0500

ngrennan gravatar image


Does anyone know how to best achieve table top object segmentation from kinect sensor? is there any module/tutorial you can recommend me to use?

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answered 2011-06-20 22:10:55 -0500

Use the openni_kinect package to set up your Kinect. You should be able to view the published point cloud topic in RViz.

Then, you can go through the pcl tutorials and pcl_ros tutorials. Tutorial 6 from the pcl_ros tutorials (SACSegmentationFromNormals planar segmentation) should do exactly what you need.

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answered 2011-06-20 22:20:08 -0500

Ugo gravatar image


I'm using the tabletop_object_detector in my manipulation stack branch.

I wrote an (incomplete) tutorial explaining what's going on.

You can check the code from here: lp:~ugocupcic/sr-ros-interface/manipulation

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I went through tutorial link. I wish to implement this. Will it work in ROS Indigo (ubuntu 14.04)? Also I am unable to access the code.

blackmamba591 gravatar image blackmamba591  ( 2015-12-13 11:08:46 -0500 )edit

the tutorial in my answer is really old. You should probably take a look at this:

Ugo gravatar image Ugo  ( 2016-01-05 09:27:45 -0500 )edit

thanks Ugo, is your code open source. Could I have a look at it. This link which you have given above does not work for me. Thanks again for your time

blackmamba591 gravatar image blackmamba591  ( 2016-01-25 12:28:56 -0500 )edit

That is strange, the link to the wiki above works for me. It's not a link to the code directly though, it's a wiki. Let me know if you can access it?

Ugo gravatar image Ugo  ( 2016-01-26 00:32:07 -0500 )edit

Thanks Ugo the wiki link works for me. I thought you implemented it, so wanted to see the code, however, l have been going through the wiki and has been very comprehensive. Thanks again

blackmamba591 gravatar image blackmamba591  ( 2016-01-26 12:27:40 -0500 )edit

answered 2011-10-13 23:09:00 -0500

You can use the fixation-based segmentation method to extract the objects on a table. The code is available at

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Asked: 2011-06-20 21:44:43 -0500

Seen: 1,860 times

Last updated: Oct 13 '11