Transparent objects

This module enables recognition and pose estimation of transparent objects. See the References for details of the algorithm.

Installation

The module is a part of the Recognition Kitchen so all you need to do is to install the Kitchen. See http://ecto.willowgarage.com/recognition/ for installation instructions.

Using

For a sample how to use the algorithm see the sample/sample.cpp file. This sample is compiled into the bin directory. You can run it by passing the path to the sample directory as the command line parameter, for example:

./bin/sample ../or-transparent-objects/sample/

Getting help

Feel free to contact maintainers if you have any questions or comments.

References

Ilya Lysenkov, Victor Eruhimov, and Gary Bradski, "Recognition and Pose Estimation of Rigid Transparent Objects with a Kinect Sensor," 2013 Robotics: Science and Systems Conference (RSS), 2013.

Ilya Lysenkov, and Vincent Rabaud, "Pose Estimation of Rigid Transparent Objects in Transparent Clutter", 2013 IEEE International Conference on Robotics and Automation (ICRA), 2013.