Bibliography | Schäfer, Tim: Advanced object localization pipeline for robot manipulation. University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Bachelor Thesis No. 128 (2020). 52 pages, english.
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Abstract | The thesis objective is to develop a robust tracking pipeline for a Baxter robot system. The tracking pipeline includes the applications of robot tracking and object tracking, which localizes the surrounding objects for robot manipulation. By combining, extending, and comparing state-of-theart approaches for object tracking and image segmentation, this thesis estimates the initial poses of the objects such that their pose can be used to auto-initialize object tracking algorithms. The pipeline is able to handle unfamiliar and dynamic environments. The system was implemented in simulation and can be applied to a real robotic system. The resulting pipeline uses an RGB image, a depth image, and the 3D object models as input. The outputs are the tracked object poses in real time. A dataset was generated to train the instance segmentation network. Furthermore, the pipeline was evaluated with several conditions to test the robustness of the tracking. A comparison to other 6D pose estimation approaches is provided in the results. The code of the pipeline is available on GitHub: https://github.com/timschaeferde/rai_baxter
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Full text and other links | Volltext
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Department(s) | University of Stuttgart, Institute of Parallel and Distributed Systems, Machine Learning und Robotics
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Superviser(s) | Mainprice, Dr. Jim; Oh, Yoojin |
Entry date | April 27, 2022 |
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