Real-time object recognition and 6DOF pose estimation based on Linemod algorithm with ROS and PCL pointcloud

In this tutorial, I’m gonna show you how to do object recognition and 6DOF pose estimation in real-time based on Linemod algorithm with ROS and PCL pointcloud. First, you need to install ork:

Then add the model of your object for tracking to Couch DB:

You need to install Kinect driver, if you don’t know how, follow my tutorial about that.

And select /camera/driver from the drop-down menu. Enable the depth_registration checkbox. Now go back to RViz, and change your PointCloud2 topic to /camera/depth_registered/points.


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6 years ago

I am trying to do the same thing but I am getting many false detections. Did you faced any problems like this?
Also I check the coke.stl mesh file which is uploaded for training has very small dimension (approx 0.01 mm). If I have to do training of different objects than do I have to reduce the object size in .stl file. Are there any guidelines of how the model should be in STL file.

It would be great if you can repky to my questions or let me know if you need any further information.


Chiara Farnesi
Chiara Farnesi
6 years ago

Hi, I’m trying to use Ork linemode but I need to use a Kinect One (Kinect v2). I had install iai_kinect2 and libfreenect2 packets in order ti work with Kinect v2 and ROS. Unfortunatly there were any succesfull result. The Kinect shows point Cloud of the room the my coke can but It does not detect it and linemode gives a abort core dump. Have you ever try Ork with Kinect v2? Have you any suggests or codes ti try?

Thanks for four kindness and attention.

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