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Package for 3D Object Detection and Recognition Based on RGBD Images in Robot Operating System (ROS) Workspace. This is my final project as student in EEPIS/PENS.
https://ieeexplore.ieee.org/document/9594034
@INPROCEEDINGS{9594034,
author={Birri, Ikmalil and Dewantara, Bima Sena Bayu and Pramadihanto, Dadet},
booktitle={2021 International Electronics Symposium (IES)},
title={3D Object Detection and Recognition based on RGBD Images for Healthcare Robot},
year={2021},
volume={},
number={},
pages={173-178},
doi={10.1109/IES53407.2021.9594034}}
✔️ Feature 1; Realtime RGBD Camera using Intel LibRealsense and opencv
✔️ Feature 2; Filter and Segmentation using Remove NaN, passthrough, VoxelGrid downsample, and RANSAC Plane Segmentation
✔️ Feature 3; Detection or Clustering using Euclidean Cluster
✔️ Feature 4; Prediction Artificial Neural Network using FANN Library
✔️ Feature 5; Visualize 3D Bounding Box and label using Visualizer PCL\
The following tools were used in this project:
Before starting 🏁, you need to have Git, ROS and PCL installed.
# make sure inside catkin_ws/src
$ cd catkin_ws/src
# Clone this project
$ git clone https://github.com/Malikmal/object_recognition_pkg
# Access
$ cd ../
# Build the project (workspace)
$ catkin_make
# Prepare datasets
# contains folders of object scenes
# Run training
$ rosrun object_recognition_pkg main_trainning folder_name
# Run Testing offline file mode
$ rosrun object_recognition_pkg main src/data/scene_mug_table.pcd
# Run realtime camera
$ rostopic
$ rosrun object_recognition_pkg camera_node
$ rosrun object_recognition_pkg main_camera
Made with ❤️ by Ikmalil Birri