The project's algorithmical part is mainly based on the following paper: Recognition and Pose Estimation of Rigid Transparent Objects with a Kinect Sensor
My original proposal contained one more segmentation algorithm, but during the bonding period we decided to focus mostly on this one, thus the second part was somewhat excluded from my original plan.
TransparentSegmentationAnnotator
- Consumes an RGB-D data from Kinect or Xtion sensor (possibly Intel RealSence, but not tested) and outputs segments, requires a PlaneAnnotator
to be runned first;