A node used to detect a door handle.
Node tested on the camera Intel Realsense SR300
- Launch ROS node of the camera:
$ roslaunch realsense_camera realsense_sr300.launch - Launch detection node:
$ roslaunch door_handle_detection door_handle_detection_realsense.launch
- Detection of the biggest plane of the point cloud which should be the door
- Creation of a point cloud which is only composed of points that between 0.05m and 0.09m from the plane detected
- Computation of the axis of the door handle which is inside the new point cloud created
- Localisation of the pose of the door handle
- Usage of a kalman filter to reduce the noise
- Creation of a bounding box to reduce the detection
- Go back to step 2 with points that are only inside the bounding box of the previous door handle