This module enables recognition and pose estimation of transparent objects. See the References for details of the algorithm.

The module is a part of the Recognition Kitchen so all you need to do is to install the Kitchen. See http://ecto.willowgarage.com/recognition/ for installation instructions.

For a sample how to use the algorithm see the sample/sample.cpp file. This sample is compiled into the bin directory. You can run it by passing the path to the sample directory as the command line parameter, for example:

./bin/sample ../or-transparent-objects/sample/

Feel free to contact maintainers if you have any questions or comments.

Ilya Lysenkov, Victor Eruhimov, and Gary Bradski, "Recognition and Pose Estimation of Rigid Transparent Objects with a Kinect Sensor," 2013 Robotics: Science and Systems Conference (RSS), 2013.

Ilya Lysenkov, and Vincent Rabaud, "Pose Estimation of Rigid Transparent Objects in Transparent Clutter", 2013 IEEE International Conference on Robotics and Automation (ICRA), 2013.