Identification of part pose

This component, implemented as a service in a ROS node, uses the information provided by a 2D vision camera to estimate the pose of a part in the space, i.e., the X, Y, Z, A, B, C coordinates of the part with respect to the camera frame.

The configuration of the component requires a training phase in which a part and its STL file are used.

The node includes tools to calibrate the vision system with respect to the robot, so the pose can be referred to it, and allows using both embedded (eye-in-hand configuration) and external cameras.

Software requirements: Linux (14.0.4) Platform, ROS Indigo

Hardware requirements: It is compatible with most of the 2D Comercial industrial cameras available in the market using GigE or USB connection.

​Just for experimental usage (research). No warranty.

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