berkeleyauv/perception

Slots Task

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Task here

Work towards identifying and distinguishing between the different fruits, as well as finding the handle.

Made some progress on removing noise in the contour detection! I was able to use a bilateralFilter to smooth the larger contours and highlight the necessary parts. The parameters still need some tuning as the filter appears to be a bit too aggressive.

Here are some preliminary results:
test is the frame with the filter
res is the frame with the bounding boxes
cont represents the contour outlines

image