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Qbo Stereo SelectorRobot-App Page

Relevant Robots:
  • The Corpora -
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Robot App™ Description

Developer: Arturo Bajuelos

This app uses the's stereo cameras to select close objects and move the head

This package contains an implementation of a node that subscribed to a disparity image, obtained by calibrated stereo camera or range camera, and uses it to detect and track close objects by publishing to a ROS topic. It also can move the head toward the object. This node can be used along with object learning and recognition to segment the desired object.

Installation Instructions

Delivered as:

ROS Package

Download and MAKE the pack and its dependencies.

git clone
rosmake --rosdep-install qbo_stereo_selector


Robot App Requirements


Hardware: Robot
Other requirements:

Network connection

Usage Instructions

Run qbo_stereo_selector node

You can either run qbo_stereo_selector node directly:
rosrun qbo_stereo_selector qbo_stereo_selector
Or use the launcher “qbo_stereo_selector.launch” located in “launch/” folder: roslaunch qbo_stereo_selector qbo_stereo_selector.launch

Observe detected objects
You can see the detected objects by running the image_view node in another console and subscribing to the qbo_stereo_selector/viewer topic.

Subscribe to the qbo_stereo_selector/viewer uncompressed images:
rosrun image_view image_view image:=/qbo_stereo_selector/viewer
Subscribe to the qbo_stereo_selector/viewer compressed images (must have image_pipeline stack installed):
rosrun image_view image_view image:=/qbo_stereo_selector/viewer theora

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