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LEGO brick object detection

asked 2015-10-25 07:05:59 -0600

alecx gravatar image

Hi, we have got a lot of lego sets mixed up in one box. My aim is to lay all lego bricks on the table an let opencv magic decide where a certain brick (of a set) lays.

Many lego bricks are available in 3D models (e.g.

I found surface matching algorithm, which maybe can do this ( But I do not know if this module can read *.dat 3D Models. And I do not know if I am on the right track.

Has anyone some tips for me where to start?

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afaik, *.ply is the only supported 3d file format there.

the opencv example works on point clouds, while your ldraw format looks more like a CAD thing, duplicated (sparse) points, lot of unuseable information like lines & quads. while it's probably not too difficult, to write a parser/translator for this, i doubt, if it has enough points. in the end, all the sample does is calculate a pose between a 'model' and a 'scene' pointcloud. id neither seperates different parts, nor does it detect, which kind it is.

(also, just curious, how do you plan to get the 3d pointcloud from the bricks on your table ?)

you've seen ?

berak gravatar imageberak ( 2015-10-25 07:30:40 -0600 )edit

I am curious if anyone has build something that actually can help find specific LEGO brick on a table with many different types of blocks?

Gerwinnaar gravatar imageGerwinnaar ( 2019-01-31 14:45:48 -0600 )edit

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answered 2017-03-26 14:30:29 -0600

Barnabas gravatar image

Hi! Please contact me, I am a bulider from Hungary, I am interested in. Thanks! [email protected]

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answered 2016-04-22 21:16:24 -0600

senjuny gravatar image

I am developer in korea.

I have been study a year lego recognition and finally i did it! next week prototype machine come my home!


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It's very interesting. I have a suggestion for cooperation. Give me your contacts

Sergey Zaplatnikov gravatar imageSergey Zaplatnikov ( 2016-09-09 05:13:45 -0600 )edit

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Asked: 2015-10-25 07:05:59 -0600

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Last updated: Oct 25 '15