Trolley detection for Mobile Robot using D455 camera

September 13, 2023 10:08

Hello

Currently, I'm using intel realsense d455 camera with my mobile robot to identify the trolley position and orientation so that mobile robot can go beneath the trolley and lift it to move to desired location. I'm trying to use d455 depth camera for image processing of trolley position and orientation.

Currently, I'm trying to deploy orb based keypoint estimation technique to detect the keypoints of the trolley using d455 depth camera. still i'm looking for some better approach for my application. Any suggestions would be highly appreciated.

Regards

Suraj Singh

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1 comment

MartyG

September 13, 2023 11:23
A common method of obtaining pose from an object is to attach an image sticker called an apriltag to a location on it.

The link below has an example of using OpenCV to obtain pose from an apriltag image.

https://stackoverflow.com/questions/67932600/how-do-i-get-the-3d-points-of-a-camera-with-known-initial-extrinsics
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