EuRoC Forum

[PetrD]

Hi,

In the document Call for Challengers Annex III ‒ Scoring System for Stage I, there is the following description of Task 1:

Task 1 requires deriving where the holes for riveting based on a human pointing gesture. The task consists of three sub-tasks: 1) Recognizing pointing gesture, 2) Localizing objects based on CAD data and 3) Localizing position on object at which the human is pointing.

We would like to ask whether the CAD data describing the workpiece is already available inside the simclient virtual machine.

We only found mesh representation of the workpiece among the data provided on the server for the purpose of simulation. In case there is no other representation of the workpiece, are we allowed to utilise the file from the server for localisation?

Regards,
Petr

[ipa-lth]

Dear PetrD,
Thank you for your question.

With regard to the “Localizing objects based on CAD data”, please note that a technical drawing of the work piece is provided on page 11 of the technical annex.

It is up to you whether that information is sufficient for you or whether you need to construct a CAD Model to utilize in your localization algorithm.
Please note that the work piece itself will not change in the final evaluation. However, the number and position of the riveting holes will change (see page 19 of the technical annex). That is why their specific poses are not provided within the technical drawing.

The mesh file is only for visualization. In the final evaluation, you will only have access to the kinect data (see chapter 2.6)

Best regards,
lth