/cs639-fa20

CS 639 (Introduction to Computer Vision) Course Project: Real-time Vision Tasks with a High Degree of Freedom Robot Arm

Primary LanguageJupyter Notebook

Real-time Vision Task with a High Degree of Freedom Robot Arm

CS 639 @ UW-Madison: Computer Vision (Fall 2020) Course Project

Group Members:

  • Haochen Shi
  • Rui Pan
  • Chenhao Lu

Requirements for replicating our result

  • Python3
  • PyTorch (version > 1.7)
  • torchvision
  • OpenCV
  • Detectron for task 2

Repository Overview

/docs contains all source code for the static websites (proposal, mid-term report, final report).

/panorama contains the source code for our first task, taking a stable panorama using the robot arm.

/detection contains the source code for our second task, real-time object detection.

/tracking contains the source code for our third task, real-time object tracking.

/archive contains the code we used for the robotics framework integration.

Please see the README in each folder for more detailed information on how to replicate our results.

Note that the robotics side of the code is not possible to set up as it requires a version of the RelaxedIK framework which is not open-sourced yet (???). Thus, we only provide instructions on standalone scripts for the vision tasks that can be executed without the robotics framework.