Objects recognition and position calculation (webcam)

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Objects recognition

We have used the package find_object_2d which has been develop by Mathieu Labbé (Université de Sherbrooke). The program can recognizes objects in the scene using an image of the object. The program has a graphical user interface which allow to capture an image of the scene and save it.

Screenshot find_object_2d

In the screenshot that is shown above, we can see how the recognized object is within a boundary box which coincide with the corners of the object image.

The program provides several data of each found object in the scene. We will use the next data:

• Width of the object image (number of pixels).
• Height of the object image (number of pixels).
• Position of the corners of the object image in the scene.

Utilization of a new OpenCV library in ROS Electric

The previous package needs the OpenCV version 2.4.3 or higher, but ROS Electric has integrated the OpenCV version 2.3.1.

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