How can I identify just one object and trace his boundary in a box full of the same objectS?

Hello everyone,

I am having some trouble to do part of my master's degree. I am working with bin-picking, so I need to identiy just one piece inside a box with other like pieces. Before someone ask, I will use stereo cameras to get the "z" coordinate, but first I need to learn how to identify some point of interest.

I attached a image that I took, with just 2 pieces (will be much more in the final work), and I want to identify the piece that is above the other, just that piece. I try with some comands and functions that I find in this community but couldn't get what I want. So, in other words, I need to identify just the top piece, identify some point I am interested (i'm not sure yet if it is the centroid), and get the coordenates of this point. I don't know if I make it clear.

Thank you in advance guys.

Answer 1

[Leandro Tognon]

Hello,

To solve the 2D object position and orientation recognition I used:

• Thresholding to identify the objects
• Bwlabel to labeling the objects, and then isolate 1 each time
• Centroid from regionprops to find the center of mass of each piece
• And Neural Network to find the orientation os each object.

I hope this helps.

Answer 2

[Leandro Tognon]

Anyone have a clue? I really need that...I am trying figure out how to do that, but I don't have any idea how to.

Answer 3

[abhik subedi]

were you able to solve this? I am working on a similar project.

Answer 4

[Leandro Tognon]

I couldn't solve that. I change my subject from 3D to 2D, because I haven't time to find out a solution for 3D.

[abhik subedi]

Can you share, how you were able to do that?