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Welcome to the second lab session of CoTeSys-ROS Fall School on Cognition-enabled Mobile Manipulation on 2D/3D Perception.

The challenge of the day will be to get 2D/3D Perception using OpenCV and PCL working with both simulated camera/laser data in Gazebo, as well as with data coming from the robots.

The concrete tasks are:


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2D Perception: Planar textured object detection

OUR SOLUTION: match_desc.cpp

How the results depend on training/test object, detector and descriptor types, ransac reprojection threshold?

3D Perception: Segmentation and Recognition

rosbag play <bag_file>

What changes? What fails? What parameters do you need to change to make things work?

Advanced task: use 2d inliers together with pcl to find object point cloud in 3D

2018-03-17 12:16