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Hello everyone,
I would like use kinect and PCL library to determine the location XYZ of a small object. I have try HSI threshold but it not really useful, the object bout 1mm1mm1mm.
Thanks you
Did you have a look at the NARF section in the PCL tutorials?
Also, for such a tiny object, the Kinect's resolution is not high enough (for use with NARF, or anything else - there are simply not enough points on the object). Did you try visualize the Kinect point cloud in RViz, and had a look at it? If a human can't separate the object from the background noise, then forget about automated object recognition.
What other properties does the object have? Does it have a salient color? If yes, you would probably do much better with a high-resolution camera and some color blob detection. You mentioned trying a HSI threshold, why didn't it work?
You might also want to give the SURE 3D features a try:
code.google.com/p/sure-3d-features
They have been used for place recognition:
"Place Recognition using Surface Entropy Features"
www.ais.uni-bonn.de/papers/ICRA_WS_SPME_2012_Fiolka_et_al.pdf
Thanks for the link, I wasn't aware of that. This looks really useful.
Thanks you,
With HSI threshold large object is work well, with small objects sometime it appear and some time it's disappear.
I used to use cvblob library of 2D blob detection, do we have blob detection in PCL library?
Asked: 2011-04-18 19:46:33 -0500
Seen: 1,096 times
Last updated: Jan 26 '13
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