Robots use computer vision in many operations. In this repository, we are going to address one of these operations, pick and place, which is the most widely used in production lines and assembly processes. The aim of this project is to select 3 objects out of 6 objects in robot work environment, and place them in specific-colored regions, so that each object will be placed in colored region initially specified by the operator.
Dataset is attached above.
Labelling is done on roboflow
Problems arise due to illumination change, camera orientation, false positive results (detect the gripper as an object, detect background as an object).
Solution: Applying thresholding on detection confidence score.
- Color Segmentation in HSI
- Morphology operations
- Box center and orientation
- Camera Intrinsics
- Eye-In-Hand Camera Calibration
- Transformations
KUKA iiwa robot iiwa_stack
Full video is attached Demo