ROS-Pose: Simplified object detection and planar pose estimation for rapid robotics application development

Abstract

We introduce an open-source package, ROS-Pose, that allows simultaneous object detection and planar pose estimation through the utilization of image feature detectors and descriptors. Specifically, when presented with an image capturing any of the object’s planes, the software is designed to achieve real-time estimation of the object’s location and pose. The software further offers a visualization mechanism for object detection and the corresponding estimated pose by superimposing directional vectors on the objects. Most importantly, this software requires only a single image per object, making it conducive to fast prototyping and development of robotic applications.