https://robotwiki.cs.lth.se/ 2026-06-06T03:50:12+00:00 https://robotwiki.cs.lth.se/ https://robotwiki.cs.lth.se/_media/wiki:logo.png text/html 2023-01-30T08:29:53+00:00 Anonymous (anonymous@undisclosed.example.com) https://robotwiki.cs.lth.se/documentation:vision:aruco_marker_detection?rev=1675067393&do=diff ArUco marker detection Aruco markers are squares with bit patterns which can easily be detected and their orientation can always be determined due to their non-symmetric pattern. These markers can be generated here. Detection with OpenCV The repository in the following text/html 2023-01-25T05:49:27+00:00 Anonymous (anonymous@undisclosed.example.com) https://robotwiki.cs.lth.se/documentation:vision:camera_calibration?rev=1674625767&do=diff Camera Calibration To calibrate a camera some calibration pattern is required, traditionally this is a checkerboard which can be generated with the help of the code in the following link. OpenCV This approach is based on the opencv documentation for camera calibration in the following $f_x$$f_y$$c_x$$c_y$$k_1$$k_2$$p_1$$p_2$$k_3$$f_x$$f_y$$x$$y$$c_x$$c_y$$k_1$$k_2$$p_1$$p_2$$k_3$ text/html 2023-01-27T14:50:49+00:00 Anonymous (anonymous@undisclosed.example.com) https://robotwiki.cs.lth.se/documentation:vision:hand_eye_calibration?rev=1674831049&do=diff Hand-eye calibration with SkiROS Hand-eye calibration is currently implemented in the handeye_calibration_coordinator skill in the vision_skills repository. Required world model elements: * Arm - the arm to which the camera is attached. * Gripper - the end-effector attached to the arm. text/html 2023-05-02T08:24:58+00:00 Anonymous (anonymous@undisclosed.example.com) https://robotwiki.cs.lth.se/documentation:vision:opencv_hand_eye_calibration?rev=1683015898&do=diff OpenCV Hand-Eye Calibration Using the OpenCV to execute the Hand-Eye calibraiton is very efficent and comes with good results. Their method implements the solutions to the AX = XB equation. The current implementation uses calibrateHandEye(). There are a couple different methods that can be used to solve the issue, the choices of methods can be found text/html 2022-09-02T14:04:25+00:00 Anonymous (anonymous@undisclosed.example.com) https://robotwiki.cs.lth.se/documentation:vision:pose_estimation?rev=1662127465&do=diff Pose estimation There are a couple of interesting repositories: * <https://git.cs.lth.se/robotlab/object-recognition-and-pose-estimation> * <https://github.com/DLR-RM/AugmentedAutoencoder> * <https://github.com/shbe-aau/multi-pose-estimation> * <https://github.com/HampusAstrom/yolov3> (reduced, simpler repo to get things working on heron) * <https://github.com/robberthofmanfm/yolo/releases> (used as a fileserver for the weights to avoid git LFS) The former two are inspirations to th… text/html 2023-01-19T10:06:46+00:00 Anonymous (anonymous@undisclosed.example.com) https://robotwiki.cs.lth.se/documentation:vision:realsense2-ros?rev=1674122806&do=diff Realsense2 + ROS Minimal test setup in ROS containers: To allow hardware to work within containers you have to use the option use-real which will map /dev inside (for USB communication) and run docker in --priviledged mode which will allow the container to have the same priviledges as outside the container for interacting with hardware. text/html 2023-01-13T12:25:00+00:00 Anonymous (anonymous@undisclosed.example.com) https://robotwiki.cs.lth.se/documentation:vision:start?rev=1673612700&do=diff We have a whole lot of Computer Vision functions that can be used Vision Skills: * <https://git.cs.lth.se/robotlab/rvmi/vision_skills>