Integration with deep learning to 73b2 fridge demo

[furushchev]

Now we will need to work on:

• [x] updating task description with reach with visual target and look around to find target => https://github.com/jsk-ros-pkg/jsk_demos/pull/1197/commits/eb09c832556e96b1a4269c54d619ee6553c96127
• [ ] implement hrp2 motion to perform the same task (name of motion is pre-defined) => https://github.com/jsk-ros-pkg/jsk_demos/pull/1197
  • [x] motion of place-object for place can to table
  • [ ] motion of place-object for place can to dustbox
• [x] record demo as video.
• [x] problem with passing can to human? => put can to table
• [x] implement approach-to bounding box => https://github.com/jsk-ros-pkg/jsk_demos/pull/1197/commits/9a64185e35488f5db3e837549723aab7afc1c2e0
• [x] fcn -> label -> cluster point indices -> bounding box => https://github.com/furushchev/jsk_semantics_201607/pull/10

Cc: @wkentaro @mmurooka

[furushchev]

Current plan (Before I change) is below:

MEMO visualization of graph in indigo requires https://github.com/furushchev/xdot/tree/workaround-for-indigo

[furushchev]

• デモ
  • PR2で新旧比較
  • HRP2でもやる
  • PR2で一通りできるタスクを途中HRP2で置き換えても出来る（缶を冷蔵庫から持ってきて机に置く⇒ @iory が飲む ⇒ ゴミ箱に捨てる）
• advice from @snozawa
  • 冷蔵庫に張り紙とかして生活感を出すと良いんじゃないか。(ネットから取ってきただけではダメ)

[furushchev]

target based fridge demo 1 fetch can to table

[furushchev]

target based fridge demo 2 take away can from table to dustbox

[furushchev]

updated

[wkentaro]

The result of FCN segmentation is here: https://github.com/furushchev/jsk_semantics_201607/pull/10#issuecomment-233993076

[mmurooka]

HRP2動画のパワポリンクです． https://drive.google.com/a/jsk.imi.i.u-tokyo.ac.jp/folderview?id=0B5qanGnXorOuRy1UOWc4VjF6MVE&usp=sharing

[furushchev]

@wkentaro @mmurooka Thanks a lot!

[wkentaro]

Dataset used to train the network

% ./scrape_dataset.py ../raw_data/dataset_2016-07-22-03-26-00 --no-show
Total number of images: 417
Number of images for each class:
  - background: 417 (100.000000%)
  - room73b2-hitachi-fiesta-refrigerator: 162 (38.848921%)
  - room73b2-karimoku-table: 81 (19.424460%)
  - room73b2-hrp2-parts-drawer: 119 (28.537170%)
  - room73b2-door-left: 59 (14.148681%)
  - room73b2-door-right: 4 (0.959233%)

[furushchev]

@wkentaro THX!

[furushchev]

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---
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---
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---
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---
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---
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