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This stack contains packages of the original BLORT - The Blocks World Robotic Vision Toolbox [1] - library and its dependencies along with a ROS wrapper. The library provides object recognition and pose estimation based on detection and tracking nodes.

BLORT was originally developped at the Vision for Robotics (V4R) lab at the Automation and Control Institute (ACIN) of the Vienna University of Technology (TUWIEN).

NOTE: Currently, BLORT makes use of GLSL (OpenGL Shading Language) and requires GPU in order to run the tracker node.

[1] Mörwald, T.; Prankl, J.; Richtsfeld, A.; Zillich, M.; Vincze, M. BLORT - The Blocks World Robotic Vision Toolbox Best Practice in 3D Perception and Modeling for Mobile Manipulation (in conjunction with ICRA 2010), 2010. BLORT Homepage

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2024-07-20 13:24