Awesome

EDOPT: Event-camera 6-DoF Dynamic Object Pose Tracking

Paper: https://ieeexplore.ieee.org/abstract/document/10611511

Datasets: https://zenodo.org/records/10829647

@inproceedings{glover2024edopt,
  title={EDOPT: Event-camera 6-DoF Dynamic Object Pose Tracking},
  author={Glover, Arren and Gava, Luna and Li, Zhichao and Bartolozzi, Chiara},
  booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={18200--18206},
  year={2024},
  organization={IEEE}
}

Assumes a known object model

Three simultaneous computations:

• EROS
• model projection
• state estimation

Build the docker using:

cd EDOPT
eval $(ssh-agent -s)
ssh-add path/to/your/ssh/secret/key
docker build -t sixdof:latest --ssh default .

## if you want to build another remote branch for debugging ...
docker build -t sixdof:latest --build-arg GIT_BRANCH=your/specified/remote/branch --ssh default  .

Make and enter the container using:

docker run -it --privileged -v /dev/bus/usb:/dev/bus/usb -v /tmp/.X11-unix/:/tmp/.X11-unix -e DISPLAY=unix$DISPLAY --network host --gpus all --name sixdofdev sixdof:latest

or

docker compose up -d
docker exec -it edopt-sixdofdev-1 /bin/bash

How to run EDOPT

Terminal 1 (on host)

yarpserver

Terminal 2 (on docker container)

## if you do not have yarp config
yarp config {YOUR YARP IPADDRESS} {PORT}
yarp namespace {NAMESPACE}
yarp detect --write
## Run atis-bridge-sdk to receive event stream
atis-bridge-sdk --s 50

Terminal 3 (on docker container)

cd /usr/local/src/EDOPT/code/build
./sixdofdev