Bottle Location
Bottle Location
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Bottle location from RGBD camera using object detection
Bottle location from RGBD camera using object detection
Object detection is a well-studied field in computer vision. There are all kinds of dataset and models available, either for pretrained models or training from scratch. We picked widely used Faster RCNN as the algorithm for object detection, with ResNet18 as the backbone. We take advantage of available dataset to train our model with COCO2017.
Object detection is a well-studied field in computer vision. There are all kinds of dataset and models available, either for pretrained models or training from scratch. We picked widely used Faster RCNN as the algorithm for object detection, with ResNet18 as the backbone. We take advantage of available dataset to train our model with COCO2017.
We integrate this trained model to a Intel RealSense D435 RGB-D camera, so the image perceived by the camera can be processed by this model to send back a label image in real time. Meanwhile, the pipeline can return the position and depth coordinate from the image, which can be further utilized for bottle grasp.
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