[ros-users] Are my findings about tod_training correct?

[Tully Foote]

Julius,

Sorry I incorrectly deleted you 2nd post because it looked like a duplicate
at first glance, with the same title and last paragraph with one word
partially changed.  answers.ros.org is the correct forum for questions like
this.

Tully

On Tue, Mar 29, 2011 at 5:44 AM, Julius Adorf <adorf at in.tum.de> wrote:

> Hello,
>
> I am working on getting a good understanding of the tod_training pipeline
> and especially the use of the pose estimations. I'd be happy about
> indications
> whether I am correct or wrong with my findings:
>
> Step 1: Pose estimation -- For each object and view, the pose is estimated
> from fiducial markers. The pose describes the orientation of the training
> object with respect to the camera.
>
> Step 2: Masking -- For each object and view, the point cloud belonging to
> the training object is separated from the background by point cloud
> segmentation.
> The pose estimation from step 1 is crucial for this stage, as it determines
> the pose a fixed-sized box. All the points in this box are said to belong
> to
> the object after removing outliers, and all other points outside of this
> box
> are no longer of interest. The mask is generated by perspective projection
> using camera information.
>
> Step 3: Feature detection and extraction -- For each object and view,
> features
> are detected and extracted from the ROI in the 2d gray-scale training
> images.
> There is one Features2d produced which contains keypoints and the
> corresponding
> generated feature descriptors, and finally the estimated pose. This stage
> does
> not use pose information.
>
> Step 4: Features3d creation -- For each object and view, this stage creates
> an
> association of keypoints in the training images and corresponding 3d points
> in
> the point cloud. This creates a one-to-one mapping between 2d keypoints and
> 3d points.
> 3d to 3d matching will soon also be supported.
>
> Altogether, we should be able to replace steps 1, 2 in case we are able to
> supply pose estimation from another source than fiducial markers.
>
> (Using object_detection in SVN revision 50425).
>
> Best Regards,
>     Julius
>
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>


-- 
Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote at willowgarage.com
(650) 475-2827
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