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Video Object Segmentation-based Visual Servo Control
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README.md

README.md

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
Brent Griffin, Victoria Florence, and Jason J. Corso
IEEE Winter Conference on Applications of Computer Vision (WACV), 2020

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

@inproceedings{GrFlCoWACV20,
  author = {Griffin, Brent and Florence, Victoria and Corso, Jason J.},
  booktitle = {IEEE Winter Conference on Applications of Computer Vision (WACV)},
  title = {Video Object Segmentation-based Visual Servo Control and Object Depth Estimation on a Mobile Robot},
  year = {2020}
}

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.

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

Use

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

Misc.

Robot Fine Motor Skills using VOSVS: https://youtu.be/4L6Q8sAjiCI IMAGE ALT TEXT HERE

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