- Grasping Project for Korea University Robot Club, KAsimov.
- Segmentation by Fully Convolutional Network.
- Backbone by ResNet 18 pretrained on ImageNet. (Deprecated)
- Backbone by VGG 16 pretrained on ImageNet.
- Full model is Pretrained on PASCAL VOC 2012.
- Fine tuned on Own dataset, for 3 classes.
- ROS Noetic
- ROS Wrapper for Intel RealSense
To start realsense camera package, do this command.
source /opt/ros/noetic/setup.bash && source ~/catkin_ws/devel/setup.bash
roslaunch realsense2_camera rs_camera.launch align_depth:=true
To start segmentation_to_world package, do this command.
source /opt/ros/noetic/setup.bash && source ~/catkin_ws/devel/setup.bash
cd src
python3 cam.py
- test on PASCAL VOC 2012 validation set
- Accuracy : 86.19%
- Mean IoU : 42.30%
- on Youtube