hrp2_apc
3D Object Segmentation for Shelf Bin Picking by Humanoid with Deep Learning and Occupancy Voxel Grid Map (Humanoids2016)
Paper (IEEE) | Paper (Gdrive) | Video | Slides | Poster | Code

Citation
@InProceedings{Wada:etal:Humanoids2016,
title={{3D Object Segmentation for Shelf Bin Picking by Humanoid with Deep Learning and Occupancy Voxel Grid Map}},
author={Kentaro Wada and Masaki Murooka and Kei Okada and Masayuki Inaba},
booktitle={Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids)},
year={2016},
}
Installation
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
wstool init src https://raw.githubusercontent.com/wkentaro/hrp2_apc/master/rosinstall
rosdep install --from-path . -r -y -i
catkin build
export ROBOT=HRP2JSKNTS
Usage
Download rosbag data.
rosrun hrp2_apc install_raw_data.py
Looking around demo.
roslaunch hrp2_apc hrp2_rosbag_apc_look_around.launch