I would like to get 6DOF-coordinate <x, y="" ,z,="" yaw,="" pitch,="" roll=""> of the object, ex. Lego brick, and set direction from centroid for grasping from any point of view.
i have read and tried to follow this paper below but not understood how to implement it correctly.
- M. Ulrich, C. Wiedemann, and C. Steger. CAD-based recognition of 3d objects in monocular images. International Conference on Robotics and Automation (ICRA), 2009.
please suggest me any good tutorials or the approach that explain how everything works.