Chapter 6. Object Detection and Recognition

Object recognition has an important role in robotics. It is the process of identifying an object from camera images and finding its location. Using this, a robot can pick an object from the workspace and place it at another location.

This chapter will be useful for those who want to prototype a solution for a vision-related task. We are going to look at some popular ROS packages to perform object detection and recognition in 2D and 3D. We are not digging more into the theoretical aspects, but you may see short notes about the algorithm while we discuss their applications.

You will learn about the following topics:

• Getting started with object detection and recognition

• The find_object_2d package in ROS

• Installing find_object_2d

• Detecting and tracking an object using a webcam

• Detecting and tracking using 3D depth sensors

• Getting started with 3D object recognition

• Introducing the object-recognition package in ROS

• Installing object-recognition packages

• Detecting...