Locate pipeline starting point using segmentation mask

[MadsJJ]

Motivation

After we have a mask of the pipeline, we need to find the location of the starting point in 3d space to be able to guide the drone to that position.

Description

Using the mask of the pipeline, locate where the starting point is. We assume it is the pipe endpoint closest to the drone (bottom of the image).
Using the located starting point in the mask, translate it to a landmark and publish it for further use.

Task suggestion

• Subscribe to mask topic
• Find starting point mask pixel
• Find 3D position
  • Finding Z position depends on stereo camera or not.
• Publish landmark

Deliverables

• A node that subscribes to pipeline mask and publishes a landmark to the start

References

Contacts

@MadsJJ