Testing Different Methods for Pose Detection

[Zaid-Waghoo]

Description

Object Pose Detection Methodology Review

Methods to be Tested

• Pixel-to-point de-projection + Grounding Dino + SAM #28

• Requires: Aruco marker, RGBD map, camera intrinsics matrix.

• Follow-on work: RANSAC plane segmentation

• Deliverable: Subclass SensoryAgent and return a Sample subclass representing the objects and poses

• Point-cloud-based methods in Open3d-ML #29

• Requires: Point Cloud and potentially camera intrinsics matrix

• Deliverable: Subclass SensoryAgent and return a Sample subclass representing the objects and volume bounding boxes