Whisker-Robot-Project

Setup Measurements Diagram

Project Setup

Top View

Interior Camera View

Front Exterior Camera View

Output from show_marker.py for Front Cam and Top Cam

Output from real_world_coordinates_cam1.py

To start the Automatic Data Collection run

python3 automatic_data_collection.ipynb

This above includes everything that is required to perform automatic data collection; like connect to the Arduino serial port, show markers, check which camera is what number i.e which port it is connected to.
In a nutshell, all the required standalone codes from the Data Collection folder for automatic data collection, are used as functions in this code.

Overview

-> The "caliberation" folder contains everything that is required to procure the camera matrix and distance coefficient values which is used in Data Collection for aruco marker detection.
It also contains code to generate aruco marker images.

-> The "Data_Collection" folder contains all the standalone codes used in the automatic data collection process.

-> The "helper_functions" folder is for codes that can be handy for various tasks.
It contains crop.py file which is used to crop images, such that the dimensions (of part of the image to keep)
are taken from the center. This was used to see if edges (in membrane images) played a role in the model learning. Turns out edges did play a role.

-> The "ML_algos" folder contains all the machine learning algorithms used in this project.

Portfolio Link for Whisker Robot project!:

https://suzie13.github.io/Sushma_S_Chandra/projects/Whisker%20Robot/