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Transparent object recognition.
C++ Python CMake
Latest commit 2908da1 Apr 30, 2016 @vrabaud vrabaud 0.4.2


Transparent objects

This module enables recognition and pose estimation of transparent objects. See the References for details of the algorithm.


The module is a part of the Recognition Kitchen so all you need to do is to install the Kitchen. See for installation instructions.


For a sample how to use the algorithm see the sample/sample.cpp file. This sample is compiled into the bin directory. You can run it by passing the path to the sample directory as the command line parameter, for example:

./bin/sample ../or-transparent-objects/sample/

Getting help

Feel free to contact maintainers if you have any questions or comments.


Ilya Lysenkov, Victor Eruhimov, and Gary Bradski, "Recognition and Pose Estimation of Rigid Transparent Objects with a Kinect Sensor," 2013 Robotics: Science and Systems Conference (RSS), 2013.

Ilya Lysenkov, and Vincent Rabaud, "Pose Estimation of Rigid Transparent Objects in Transparent Clutter", 2013 IEEE International Conference on Robotics and Automation (ICRA), 2013.

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