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VOSVS: Video Object Segmentation-based Visual Servo

Contact: Brent Griffin (griffb at umich dot edu)

Paper

Video Object Segmentation-based Visual Servo Control and Object Depth Estimation on a Mobile Robot Platform
Brent Griffin, Victoria Florence, and Jason J. Corso

Please cite our paper if you find it useful for your research.

@inproceedings{GrFlCo19,
  author = {Griffin, Brent and Florence, Victoria and Corso, Jason J.},
  title = {Video Object Segmentation-based Visual Servo Control and Object Depth Estimation on a Mobile Robot Platform},
  journal = {CoRR},
  volume = {abs/1903.08336},
  year = {2019}
}

Method

Video Demonstration: https://youtu.be/hlog5FV9RLs

IMAGE ALT TEXT HERE

HSR Segmenting Objects at Various Heights. HSR's grasp camera faces downward (left) and only collects RGB data for objects in the scene (top right). However, using active perception and video object segmentation (bottom right), HSR can locate and grasp a variety of objects in real time. alt text

Depth Estimation of Sugar Box. Data are collected and processed in real time during the initial approach to the sugar box in the video demonstration. alt text

Code

Source code for our video object segmentation-based framework is located in the /robot_exp folder.

Source code for annotating data and training OSVOS for segmentation is located in the /OSVOS_train folder.

Use

This code is available for non-commercial research purposes only.

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