Plane pose estimation via Intel Realsense D435i camera

Mohammad B

February 17, 2021 22:59

Hi,

I have a quick question about my project and am wondering if I can know your opinion.

I want to to detect the surface of a table in a room and find the position of the surface to be sent to the robot manipulator.

It's a 2d rectangular plane. I have an Intel Realsense D435i camera as well.

Thanks

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MartyG

February 17, 2021 23:10
Hi Mohammad B The link below has some useful research leads for obtaining pose of objects, such as tracking by the object's color.

https://support.intelrealsense.com/hc/en-us/community/posts/360051876853-Using-D435-for-tracking-3D-color-objects
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Mohammad B

February 17, 2021 23:21
Hi MartyG, Thanks for your prompt answer. Actually I am not going to track the pose of an object. The objects in my scene (particulalry the table) is stationary and I'd like to find the 6D pose of its surface. Could you please help me with that?
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MartyG

February 18, 2021 07:13

Edited
If you are able to use ROS, there is a project called AUBOi5-D435-ROS-DOPE that is compatible with D435 and states that it can obtain the 6DOF pose of recognized objects.

https://github.com/avinashsen707/AUBOi5-D435-ROS-DOPE

A simpler ROS 6DOF project for RealSense and Nvidia is here:

https://github.com/pauloabelha/Deep_Object_Pose

If you would prefer to use OpenCV, pose can be detected using a technique called a SolvePNP algorithm. For more details of this, I recommend googling for the term opencv pose solvepnp 6dof

You could also investigate the subject of obtaining pose through a plane fit:

https://support.intelrealsense.com/hc/en-us/community/posts/360050894154-plane-detection
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