Robotic Grasp之三维视觉

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分类专栏： CV & DL 编程实现文章标签：三维视觉计算机视觉模式识别

于 2021-07-30 15:48:17 首次发布

本文链接：https://blog.csdn.net/next_voyager/article/details/119241555

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本文介绍了点云配准中的ICP算法，包括点到点和点到面两种变体，并展示了其在几何注册中的应用。同时，讨论了AprilTags视觉 fiducial 系统，它能精确计算3D位置和方向，广泛用于增强现实、机器人和相机校准。AprilTag库易于集成，可在各种设备上实现实时性能。

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点云配准 ICP 算法

This tutorial demonstrates the ICP (Iterative Closest Point) registration algorithm. It has been a mainstay of geometric registration in both research and industry for many years. The input are two point clouds and an initial transformation that roughly aligns the source point cloud to the target point cloud. The output is a refined transformation that tightly aligns the two point clouds. A helper function draw_registration_result visualizes the alignment during the registration process. In this tutorial, we show two ICP variants, the point-to-point ICP and the point-to-plane ICP [Rusinkiewicz2001]_.
ICP Registration — Open3D latest (664eff5) documentation

AprilTags Visual Fiducial System

AprilTag is a visual fiducial system, useful for a wide variety of tasks including augmented reality, robotics, and camera calibration. Targets can be created from an ordinary printer, and the AprilTag detection software computes the precise 3D position, orientation, and identity of the tags relative to the camera. The AprilTag library is implemented in C with no external dependencies. It is designed to be easily included in other applications, as well as be portable to embedded devices. Real-time performance can be achieved even on cell-phone grade processors.
AprilTag
GitHub - AprilRobotics/apriltag: AprilTag is a visual fiducial system popular for robotics research.
AprilTag with Python - PyImageSearch 20201102
Apriltag原理简介及源代码_Rain的博客-CSDN博客_apriltag 20190516
GitHub - BlackJocker1995/Apriltag_python: restruct the apriltag using python