hrp2_apc

3D object segmentation for shelf bin picking by humanoid with deep learning and occupancy voxel grid map.

Citation

@inproceedings{wada20163d,
  title={3D object segmentation for shelf bin picking by humanoid with deep learning and occupancy voxel grid map},
  author={Wada, Kentaro and Murooka, Masaki and Okada, Kei and Inaba, Masayuki},
  booktitle={Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on},
  pages={1149--1154},
  year={2016},
  organization={IEEE}
}

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

Private

• Paper: https://github.com/wkentaro/hrp2_apc-paper
• Data: https://drive.google.com/drive/u/1/folders/0B9P1L--7Wd2vUWlQcnZLY0FPeDA