This package implements a novel object segmentation algorithm for autonomous service robots acting in human living environments. The proposed system allows a robot to effectively segment textured objects in cluttered scenes by leveraging its manipulation capabilities. In this interactive perception approach, 2D-features are tracked while the robot actively induces motions into a scene using its arm. Thereby, the robot autonomously infers appropriate arm movements which can effectively separate objects. The resulting tracked feature trajectories are assigned to their corresponding object by using a novel randomized clustering algorithm, which samples rigid motion hypotheses for the a priori unknown number of scene objects. We evaluated the approach on challenging scenes which included occluded and reflective objects, as well as objects of varying shapes and sizes.
See also below video and the associated tutorials.
svn co http://sourceforge.net/p/bosch-ros-pkg/code/1591/tree/trunk/stacks/bosch_interactive_segmentation
Please see the tutorials on the right side in order to learn how to use the package.