bjajoh/robot-vision-pick-and-place

RoboDK simulation with robot and vision (2d) pick and place

robot-vision-pick-and-place

RoboDK simulation with robot and vision (2d) pick and place for AAU (Aalborg Univserity) Robot Vision Course. https://moduler.aau.dk/course/2020-2021/ESNVGISK2K2?lang=en-GB

Vision To-Do

• Color Segementation
• Detection
• Jupyter Visu
• 3D Calibration
• Connect with RoboDK Camera
• Move Robot
• Build Simpsons
• Plug Everything together

Image Processing

Camera Raw Image

Scale Down Input

Add Gaussian Blur

Convert to Grayscale

Inverted Binary Thresholding

Trace Contours, Add Discrete Colors to each Contour Object, Estimate Polygon, Use Polygon Corners to Calculate Orientation, Use Homography Transform to get World Coordinates from Pixel Coordinates

Full Visu

Initial Calibration is being done by using 4 additional red bricks with knows world locations.

Program in Action

https://user-images.githubusercontent.com/42101377/117690134-cd388980-b1ba-11eb-881e-b1d171341d41.mp4 https://www.youtube.com/watch?v=betZsiYEAE0