Understanding how robots discover objects and their pose
Understanding how robots discover objects and their pose
One of the most popular videos in my YouTube channel is an illustration of how one can draw on Cozmo’s face by simply moving the cube…
One of the most popular videos in my YouTube channel is an illustration of how one can draw on Cozmo’s face by simply moving the cube around. The program is simple to write using the Cozmo Codelab. But there are very important concepts to learn here. One of the most essential jobs of commercial robots is to grasp and move objects. Behind this technology is the art of determining the pose of an object, known as 6D Object Pose Estimation (6DOPE). Before, going into a deep dive on 6D OPE, I would first like you to review the following video.
Why 6D? Because the pose of any object can be described using (i) 3 dimensional coordinates of the approximate center of the object, and (ii) the 3D rotational matrix which can be expressed as a quarternion. The quarternion is a powerful concept by which any rotation can be expressed using 3 different coordinates. An excellent tutorial which gives a great intuitive insight into the concept of the quarternion is available