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optimal kinect/xtion placement with regard to object recognition

asked 2012-04-01 19:36:02 -0600

bit-pirate gravatar image

updated 2016-10-24 09:03:02 -0600

ngrennan gravatar image


I am wondering, if there is some kind of best practice out there or someone could share her/his experience about how to best place the Kinect, Xtion or a similar device on a robot.

To be more specific, I am thinking about which viewing angle is necessary to get good results for object recognition, e.g. with objects on a table. Is there an optimal viewing angle - maybe 45 degrees?

I would be happy, if somebody doing table-top manipulation, e.g. with the PR2 + Kinect, could tell me about the viewing angles for which object recognition works well.

Thank you!

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answered 2012-07-23 11:13:47 -0600

Vincent Rabaud gravatar image

well, it all depends on the technique you use, it is that simple: template techniques like LINEMOD will need the same view points that you acquired during training, feature based ones can be a bit more robust to warping and so on.

Train your detector in angle/scale/illumination in the same way you will detect your object and accuracy will increase.

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Asked: 2012-04-01 19:36:02 -0600

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Last updated: Jul 23 '12