Computer Vision Skill

Overview

Expert skill for robot vision applications including camera calibration, feature detection and tracking, stereo vision, and visual servoing.

Capabilities

• Implement camera intrinsic calibration (pinhole, fisheye)
• Configure stereo camera calibration and rectification
• Set up camera-LiDAR extrinsic calibration
• Implement feature detection (ORB, SIFT, SURF, SuperPoint)
• Configure optical flow tracking (Lucas-Kanade, Farneback)
• Implement depth estimation from stereo
• Set up visual servoing pipelines
• Configure image undistortion and rectification
• Implement ArUco/AprilTag marker detection
• Set up hand-eye calibration

Target Processes

• robot-calibration.js
• visual-slam-implementation.js
• object-detection-pipeline.js
• digital-twin-development.js

Dependencies

• OpenCV
• cv_bridge
• image_geometry
• camera_calibration

Usage Context

This skill is invoked when processes require camera calibration, feature detection, visual tracking, or image processing for robot vision applications.

Output Artifacts

• Camera calibration files (YAML)
• Stereo calibration parameters
• Feature detection configurations
• Visual servoing controllers
• Image processing pipelines
• Marker detection configurations