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