RTM Toolbox

RTMT includes a flexible system to reconstruct  3D models of objects captured with an RGB-D sensor. A major advantage of the method is that unlike other modelling tools, our reconstruction pipeline allows the user to acquire a full 3D model of the object. This is achieved by acquiring several partial 3D models in different sessions — each individual session presenting the object of interest in different configurations that reveal occluded parts of the object — that are automatically merged together to reconstruct a full 3D model. In addition, the 3D models acquired by our system can be directly used by state-of-the-art object instance recognition and object tracking modules, providing object-perception capabilities to complex applications requiring these functionalities (e.g. human-object interaction analysis, robot grasping, etc.). The system does not impose constraints in the appearance of objects (textured, untextured) nor in the modelling setup (moving camera with static object or turn-table setups with static camera). The proposed reconstruction system has been used to model a large number of objects resulting in metrically accurate and visually appealing 3D models.




J. Prankl, A. Aldoma Buchaca, A. Svejda, M. Vincze, RGB-D Object Modelling for Object Recognition and Tracking. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. (pdf)

A. Aldoma Buchaca, F. Tombari, J. Prankl, A. Richtsfeld, L. di Stefano, M. Vincze, Multimodal Cue Integration through Hypotheses Verification for RGB-D Object Recognition and 6DOF Pose Estimation. IEEE International Conference on Robotics and Automation (ICRA), 2013. (pdf)

J. Prankl, T. Mörwald, M. Zillich, M. Vincze, Probabilistic Cue Integration for Real-time Object Pose Tracking. Proc. International Conference on Computer Vision Systems (ICVS). 2013. (pdf)

Download prebuilt binaries

We currently support Ubuntu 14.04 (64 bit). The installation instructions:

curl -s http://lcas.lincoln.ac.uk/repos/public.key | sudo apt-key add –

sudo apt-add-repository http://lcas.lincoln.ac.uk/repos/release

sudo apt-get update

sudo apt-get install ros-indigo-v4r

sudo apt-get install ros-indigo-v4r-ros-wrappers (optional)

Download source code




STRANDS project: