# machine learning

## 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 …

## Stitching image using SIFT and Homography

This Matlab tutorial I use SIFT, RANSAC, and homography to find corresponding points between two images. Here I have used vlfeat to find SIFT features. Full code is available at my GitHub repository Major steps are: 0.Adding vlfeat to your Matlab workspace:

1.Detect key points and extract descriptors. In the image below you can see some SIFT key …

## Dynamic Time Warping with Python

Dynamic Time Warping (DTW) is a method to align two sequences such that they have minimum distance. For instance, two trajectories that are very similar but one of them performed in a longer time. Here is an example of my code with python. Here is my ROS package with C++ for DTW.

## Analytic distance metric for Gaussian mixture models

In many applications, you need to compare two or more data sets with each other to see how much they are similar or different. For instance, you have measured the height of men and women in Japan and the Netherlands and now you like to know how much they are different. Two commonly used method …

## Learning From Demonstration

In this work at first, I recognize the object in the scene and estimate the 6 DOF pose of that. Then I track the object by using particle filter. RGB data acquired from Kinect 2 and turned into PCL pointcloud. I demonstrate a task several times to the robot. In this case, I move an object (a detergent) over …