layne22 / PPF-MEAM

Point Pair Feature-Based Pose Estimation with Multiple Edge Appearance Models (PPF-MEAM) for Robotic Bin Picking

PPF-MEAM

PPF-MEAM is an implementation of the Point Pair Feature-Based Pose Estimation with Multiple Edge Appearance Models (PPF-MEAM) for Robotic Bin Picking from Diyi Liu et al.

The project takes a .STL mesh model as an input, then it will find every matches available in the scene provided as a .pcd file and a .jpg file.

Requirements

To build this project you will need:

• Point Cloud Library (PCL 1.7)

• Eigen library 3.0

• cmake 2.8

Compile and run

    mkdir build
    cd build
    cmake ..
    make
    ./demo