Best package to estimate object pose using camera

asked 2018-05-24 13:23:07 -0600

raequin gravatar image

updated 2018-05-28 08:18:49 -0600

How would you recommend one use vision to determine the pose of an object for which there is a CAD model (and mesh)? One option is visp, but I think that only works for a 2D camera and I don't want to have to depend on camera calibration. Another option, I would think, would be to use a depth camera and determine pose by somehow comparing the model to the point cloud. (This depends on camera calibration, too, but it would be done at the factory.) Do you know of any methods, preferably ROS-based but not necessarily, for getting pose from a point cloud?

tl;dr --- How do you suggest getting pose from a camera? visp, depth camera, or other?

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It's not open-source, but Halcon can do 6d pose estimation from cad+2d image.

gvdhoorn gravatar image gvdhoorn  ( 2018-05-28 11:05:47 -0600 )edit

To add: "6D pose estimation" is the keyword to find loads of very recent research papers on this, many freely available on arXiv. I don't know if ROS packages exist, but you could try wrapping the source code of any papers that make it available.

fvd gravatar image fvd  ( 2018-09-05 02:34:00 -0600 )edit
fbelmonteklein gravatar image fbelmonteklein  ( 2019-05-06 09:10:52 -0600 )edit