OOR

Vibot 2013 Robotics Project: Office Object Recognition

The aim of this project is to be able to recognize common office objects (tables, chairs, etc) using a Turtlebot and a Kinect.

Approach:

Merge point clouds comming from the Kinect into one big sceene using Octomap.
Cluster data with Pcl plane segmentation or Real-Time Plane Segmentation using RGB-D Cameras (Dirk Holz, Stefan Holzer, Radu Bogdan Rusu and Sven Behnke)
Recognize primitives (planes, cylinders)
Graph matching, a table is deffined with 4 cylinders connected to a plane.

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README.md		README.md