In order to ease the segmentation of objects for classification, use the pose of the robot to filter planes that are not horizontal to the ground and only segment objects on top of horizontal planes (height constraints might be used too to remove ground plane).
In order to ease the segmentation of objects for classification, use the pose of the robot to filter planes that are not horizontal to the ground and only segment objects on top of horizontal planes (height constraints might be used too to remove ground plane).
@kunzel rosrun tf tf_echo /base_footprint /head_xtion_depth_optical_frame
Removal of ground-plane might be tricky if we want to classify objects on the floor.