Ticket #13 (closed feature: implemented)

Opened 13 years ago

Last modified 13 years ago

Table object recognition

Reported by: tim Owned by: tim
Priority: critical Milestone: GO2007
Component: FireVision Version:
Keywords: AtHome, AtHome2007, Object Recognition, Stereo Vision, Bumblebee Cc:
Git Branch:

Description

Implement recognition system for objects on a table.

In this year's RoboCup@Home manipulation challenge we want to grab a cup on a table. For this we need a way to recognize this cup and tell its position.

We agreed to use a color-coded cup. By having a set of multiple differently colored cups we can choose one that is separable from the environment by just looking at the color. A stereo vision camera is about to be mounted on top of the robot at a height yet to be defined but probably in the range of 1.4 m and 1.6 m.

The basic idea is to use the color to basically determine the location of the cup. Since tables have a certain height (that we could even measure before the tournament) and we know the robot's position we already have a rough idea where we have to search (eliminating problems with objects of the same color as the cup, for instance red cup and red shirt of someone). When the cup is found we use the disparity image to determine the coordinates of the cup relative to the camera. With the known mounting position of the camera it is a matter of a coordinate transformation to get coordinates in the coordinate system of the robot or gripper.

For the time being we will use the Triclops SDK that came with the Bumblebee2. It is slow but with the information at what pixels the cup is it can be easily used for just the depth information. And since we are not speed critical in the RoboCup@Home league this will suffice.

Change History

comment:1 Changed 13 years ago by tim

  • Status changed from new to closed
  • Resolution set to implemented

A basic application has been writte named Cannikin in the Fawkes/FireVision? framework. Currently it is meant to detect cups on a table, but it is not shape specific. It follows the outline given in the ticket description.

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