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ROS project using object recognition using point-cloud data from an RGB-D camera to communicate pick & place instructions to a PR2 two-armed robot.

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PR2 Robotic Object Recognition & Picking Project

Utilized Passthrough and RANSAC filtering on the point-cloud data alt text

Utilized Euclidean Clustering to distinguish identified objects for pick & place alt text

roslaunch sensor_stick training.launch
rosrun sensor_stick capture_features.py

Output is training_set.sav file

rosrun sensor_stick train_svm.py

Output is Confusion Matrices and model.sav file

Test World 1

Confusion Matrix - Not Confused alt text

3 of 3 Objects Identified alt text

Output_1 YAML file included

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ROS project using object recognition using point-cloud data from an RGB-D camera to communicate pick & place instructions to a PR2 two-armed robot.

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MIT
LICENSE.md

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  • C++ 53.6%
  • Python 37.4%
  • CMake 8.9%
  • Shell 0.1%