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Aashish Nagpal (2012CS50271) Shivam Verma (2012CS10253)
Aashish Nagpal (2012CS50271) Shivam Verma (2012CS10253)
Point Cloud Generation:- Generate point clouds for the different segments
based on the additional factor of depth captured from scanner.
Kinect v2.0
Input was taken for different arrangements and from different distance
and angles.
Input image was then segmented using the previous work based on
Learning Rich Features from RGB-D Images for Object Detection
and Segmentation [1]
This technique uses geocentric embedding for depth images that encodes
height above ground and angle with gravity for each pixel in addition to
the horizontal disparity to calculate features.
PLY and PCD files were generated using segmented image and the mesh
data collected by Kinect.
PCL library was used to match the obtained point clouds with the
training point clouds in the database.
These features were then used to identify the object from the training
data.
PCL library functions were used to detect the parameters for the object
identified in the previous step.
Cylinder:-
Radius
Height
Orientation of the cylinder in terms of angle the axis make.
Position of centroid
Detecting Parameters
Cone:-
Base Radius and Top Radius
Height
Orientation of the cone in terms of angle the axis make.
Position of centroid
Sphere:-
Radius
Position of the center
Quality of Input(RGB-D)
Good Input
Bad Input