Description

This module run a recursive Bayesian filter, a particle filter, to track the robot's end-effector.

For each particle filter recursion

1) we render, for each particle, an image of the 3D mesh model of the end-effector as it would appear from the robotâs viewpoints (likewise in augmented reality contexts);

2) we then use this state representation to directly estimate the 6D pose (position and orientation) of the end-effector in the robot operative space using 2D image descriptors.

In particular, we use HOG to compare the rendered images with the robotâs camera images and, as a result, the particles which are more likely to represent the end-effector will have higher weight.

Parameters

– play : use stored data played with yarpdataplayer.
– camsel : left or right to slect the corresponding iCub eye.

Input Ports

/hand-tracking/_camsel_/img:i [Image] [default carrier:mcast]: Input image from the camera.
/hand-tracking/InitiCubArm/cam/_camsel_/torso:i [Bottle] [default carrier:tcp]: Read torso encorder values.
/hand-tracking/InitiCubArm/cam/_camsel_/right_arm:i [Bottle] [default carrier:tcp]: Read right arm encorder values.
/hand-tracking/VisualProprioception/_camsel_/head:i [Bottle] [default carrier:tcp]: Read neck and eyes encorder values.
/hand-tracking/VisualProprioception/_camsel_/right_arm:i [Bottle] [default carrier:tcp]: Read right arm encorder values.
/hand-tracking/VisualProprioception/_camsel_/torso:i [Bottle] [default carrier:tcp]: Read torso encorder values.
/hand-tracking/ResamplingWithPrior/InitiCubArm/cam/_camsel_/torso:i [Bottle] [default carrier:tcp]: Read torso encorder values.
/hand-tracking/ResamplingWithPrior/InitiCubArm/cam/_camsel_/right_arm:i [Bottle] [default carrier:tcp]: Read right arm encorder values.

Output Ports

/hand-tracking/_camsel_/result/estimates:o [Bottle] [default carrier:tcp]: Pose estimates of the right end-effector of iCub.

Services

/hand-tracking/_camsel_/cmd:i [rpc-server]: Command port to control the 3D model-aided SIS particle filter. . This service is described in VisualSISParticleFilterIDL (VisualSISParticleFilterIDL.thrift)