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Computer vision system to detect wooden magnetic blocks within a region enclosed by AR tags.

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magnetic_block_detection

This system was developed to detect and locate wooden magnetic blocks within a region bounded by at least three Alvar AR tags.

Composed of two packages:

System

The Alvar subsystem is a modified verison of the official package. The only change made is that this version also outputs the 2D image coordinates of the markers on a separate topic. This, in turn, allows for our code to produce a 2D to 3D mapping with the only assumption being the markers are placed on a flat surface. This version of the package should be drop-in compatible with other uses. Please refer to the package's README for more details.

Our package (block_detector) provides the 2D to 3D mapping code, simple computer vision block detector, and calibration code. We also have an experimental multi-camera pipeline (though it is still in development). Please refer to the package's README for more details.

Note, block_detector already has the following python modules within the package:

Install

Make sure to install the necessary camera ROS drivers. For instance if using a USB webcam then install usb_cam.

Then install the following python modules:

Run

Enter following into terminal:

roslaunch block_detector main.launch video_src:=<video-device e.g., /dev/video0>

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Computer vision system to detect wooden magnetic blocks within a region enclosed by AR tags.

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