Get minimum oriented bounding box from partial point cloud from depth sensor

0
votes

How can I compute the oriented bounding box from a partial point cloud?

My use case is I have a depth camera looking down at a table with one object (which can have irregular geometry). The camera does not get the full point cloud because the bottom of the object is occluded.

From the limited point cloud information I can get, how do I fit a oriented bounding box around it?

I intend to use the bounding box to calculate center of mass, assuming uniform density, and using this as a grasping heuristic.

Similar question in 2d: minimal bounding box of a clipped point cloud

1
computer-visionrospoint-cloud-library

1 Answers

1
votes

If i get you right why don't you assume following:

  1. reproject visible points to a planar surface (table)
  2. get bounding rectangle around reprojected points (unseen points must be inside of it and can't be outside if camera is orthogonal to projection surface, table in this case), this is a bounding box profile
  3. bounding box bottom is the table and its top is parallel to it and contains the nearest point to camera