Kinect 6D Pose Estimation
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Uploaded by ccnyroboticslab on Mar 31, 2011
Real-time pose estimation using a Kinect camera (freehand motion).
The algorithm runs in real-time on a desktop CPU. We're using custom RGB-D feature descriptors to do the scan registration. The code works in conjunction with OpenCV and PCL, and should be properly documented and available for download soon.
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Uploader Comments (ccnyroboticslab)
All Comments (9)
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This is awesome work. Is there anyway we can access the source code?
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this is awesome, I need to try it
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@ccnyroboticslab i see, I figured so. I am doing something similar but so far my feature descriptors are only from depth info - simple planes with a size and location. They're quite steady across consecutive frames but sometimes there are not enough of them to deduce camera movement. Using the accelerometer 'true-up' as a pseudo-plane helps, but I may yet need to use color data... dammit. Either that or force the operator to find at least two good planes.
Are you using sift on the rgb?
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The second part does not look like freehand motion...?
zppz 11 months ago
@zppz The second part uses a rotary stage to move the Kinect at a constant angular rate, but the odometry information from the servo is not used as an initial estimate for the ICP.
ccnyroboticslab 11 months ago
Nice. What code is this using?
motters2001 11 months ago
@motters2001 Thanks - I updated the description
ccnyroboticslab 11 months ago