Model Free 3D Object Detection & tracking PCL
I have a task where i am asked to track parcels(carton boxes) of different dimensions moving on a conveyor
I am using Asus Xtion pro camera mounted on top of a conveyor in any inclined angle and also i have been asked to use Point cloud data to detect & track the object on the conveyor
I have read so many model-based methods where we need to create a model of the object to be detected and then we perform keypoints extraction,feature mapping and so many other concepts between the scene and the model. Since i am using Boxes of different dimensions, i definitely need a model of each of them to match with the scene. I don't want a model based tracker because, i need to create separate models of a box of all dimensions that my tracker will track.
My question : Is there a model free object tracker that works on point Clouds to detect object in the scene, gives their 6DOF and track them? My target object is just a box and i want to eliminate all other things in the scene.
Thanks in advance