visual-tracking-control

⚙️ visual-tracking-control

The visual-tracking-control project is a suite of cross-platform applications for visual tracking and visual servoing for the humanoid robot platform iCub.

The suite includes:

The output of the hand-tracking application can be visualized by means of the iCubProprioception module. iCubProprioception provides an augmented-reality application which superimposes the 3D model of the end-effector onto the camera images, using the estimated pose provided by hand-tracking.

visual-tracking-control home

Overview

🎛 Dependencies

visual-tracking-control suite depends on

🔨 Build the suite

Use the following commands to build, install and link the library.

Build

With make facilities:

$ git clone https://github.com/robotology/visual-tracking-control
$ cd visual-tracking-control
$ mkdir build && cd build
$ cmake -DBUILD_HAND_TRACKING=ON -DBUILD_VISUAL_SERVOING_CLIENT=ON -DBUILD_VISUAL_SERVOING_SERVER=ON ..
$ make
$ [sudo] make install

With IDE build tool facilities:

$ git clone https://github.com/robotology/visual-tracking-control
$ cd visual-tracking-control
$ mkdir build && cd build
$ cmake -DBUILD_HAND_TRACKING=ON -DBUILD_VISUAL_SERVOING_CLIENT=ON -DBUILD_VISUAL_SERVOING_SERVER=ON ..
$ cmake --build . --target ALL_BUILD --config Release
$ cmake --build . --target INSTALL --config Release

📝 API documentaion and example code

Doxygen-generated documentation is available here.

📑 References

[1] C. Fantacci, U. Pattacini, V. Tikhanoff and L. Natale, “Visual end-effector tracking using a 3D model-aided particle filter for humanoid robot platforms”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada, 2017. arXiv preprint arXiv:1703.04771.
[2] C. Fantacci, G. Vezzani, U. Pattacini, V. Tikhanoff and L. Natale, “Markerless visual servoing on unknown objects for humanoid robot platforms”, IEEE International Conference on Robotics and Automation (ICRA), Brisbane, AU, 2018. arXiv preprint arXiv:1710.04465.


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