Users Manual

• The template of the object to be detected in the scene.
• The coordinate frame in which the poses of the detected objects shall be returned (ref. Hand-eye calibra-
tion).
Optionally, further information can be given to the SilhouetteMatch component:
• An offset in case the objects are lying not on the base plane but on a plane parallel to it. The offset is
the distance between both planes given in the direction towards the camera. If omitted, an offset of 0 is
assumed.
• The region of interest in which the objects should be detected. If omitted, objects are matched in the whole
image.
• The current robot pose in case the chosen coordinate frame for the poses is external and the rc_visard is
mounted on the robot (possible only via the REST-API).
On the Web GUI the detection can be tested in the “Try Out” section of the SilhouetteMatch component’s tab. The
result is visualized as shown in figure Fig. 7.5.1.
Fig. 7.5.1: Result image of the SilhouetteMatch component as shown in the Web GUI
The right image shows the calibrated base plane in blue and the template to be matched in green. The template is
warped to the size and tilt matching objects on the calibrated base plane would have.
The left image shows the detection result. The shaded blue area on the left is the region of the left camera image
which does not overlap with the right image, and in which no objects can be detected. The chosen region of interest
is shown as bold petrol rectangle. The detected edges in the image are shown in light blue and the matches with
the template are shown in green. The red circles are the origins of the detected objects as defined in the template.
The poses of the object origins in the chosen coordinate frame are returned as results. In case the objects are
rotationally symmetric, all returned poses will have the same orientation. For rotationally non-symmetric objects,
the orientation of the detected objects is aligned with the normal of the base plane.
The detection results and runtimes are affected by several run-time parameters which are listed and explained
further down. Improper parameters can lead to time-outs of the SilhouetteMatch component’s detection process.
7.5.5 Interaction with other components
Internally, the SilhouetteMatch component depends on, and interacts with other on-board components as listed
below.
7.5. SilhouetteMatch 107