Object Recognition and Localisation
Concerning the object recognition part, we use the Xtion PRO Live in order to combine 3D point cloud and RGB data to discriminate objects and localize them.
The first step of our process is to isolate objets on a plane surface. To do so we use the tabletop Ros node. Our reference plane surface is choosed according to the RGB-D Xtion center target point.
After that, each isolated objet is associated in a database storing rgb information, point cloud, vision processing result (like key points for SURF detection) and label information.
As soon as this training is done, object detection and localisation is available on demand