Perception

Robot perception architecture

Robot perception architecture

• Camera
  • Tower-mount camera calibration
  • RealSense2 camera
• Dataset
  • Dataset collection
    • 3D dataset collection
    • 2D dataset collection
  • Dataset preprocessing
    • 3D dataset preprocessing
    • 2D dataset preprocessing
• Training models
  • Traning point cloud classification
    • Training deep learning model
    • Adding new model
  • Training 2D object detection
• Object Segmentation
  • 3D object segmentation
    • mir_object_segmentation package
    • mir_object_recognition package
• Object recognition
  • 3D object recognition models
  • 2D object recognition models
  • Multimodal object recognition
• Barrier tape detection
• Cavity detection