# How to map bounding boxes from object detector to a map ?

Hello,

I"m starting to understand ROS but I'm still a bit confused. I started learning ROS with a turtlebot, my goal is to recognize a track made of traffic cones, find a closed loop and drive around.

At this moment I'm able to run slam and recognize the cones with an object detector but I'm stuck at combining the two. Is it possible to show to the position of the cones (bounding box) on the map created with SLAM ? I'm using the Kinect camera, at this moment I run gmapping and object detection separately.

I'm really stuck with this one so any help would be really appreciated

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Can you be more specific about the object detector you are using and its ouput please ? You can find an example here in the case you are able to get the object frame and then you just do a tf lookup transform to have the pose in the map frame. The example was taken from the find_object_2d package wiki that could be useful for you.

( 2019-05-15 03:55:38 -0600 )edit

Thanks for your reply, at this moment I”m using this package to detect cones with kinect. ( https://github.com/fdiazgon/cone-dete... ) My next step would be to locate the cones on a map for mavigation pruposes.

( 2019-05-15 16:37:38 -0600 )edit

I'm not sure your package is the one needed because it only returns the position of a cone within an image (meaning only { x; y}). If you could get the depth too then you would be able to use the tf to add your cones within your map but your object detec tor package doesn't seem to deal with depths.

You could "merge" the package I gave as example in my previous comment.with your cone-detector to get things working.

( 2019-05-16 02:45:44 -0600 )edit

Thanks again for the reply, Things are getting clearer for me. The only questions I have left :

1. How am I able to merge two different packages? I do not have any experiences and couldn't find any examples.

2. I"m still a bit confused about the map building progress, are there any examples to add coordinates to a map in ROS ?