/tactile-shape-recognition

Code for my research project titled "3D Shape Recognition using Tactile Sensing" under Prof. Alcimar Soares at NUS-SINAPSE

Primary LanguageCMIT LicenseMIT

3D Shape Recognition using Neuromorphic Tactile Sensing

This repository contains the code for my project at SINAPSE, National University of Singapore during May-July 2018 as a part of my research internship under the guidance of Prof. Alcimar Soares. I was guided by Andrei Nakagawa, Rohan Ghosh and Nipun Batra.

Setup

Install PCL-1.8 (Point Cloud Library) from source by following the instructions on http://pointclouds.org/downloads/.

Install necessary Python3 modules by executing this commands

sudo pip3 install numpy tensorflow tensorflow-gpu scipy lzf seaborn
sudo apt install python-skimage # for Ubuntu 16.04
# If the above command doesn't work, you may try this
# sudo pip3 install skimage

Assuming that cmake has already been installed, build the extract_pov binary

cd scripts
mkdir build && cd build
cmake .. && make && mv extract_pov ../

Execution

cd into the GUI folder and execute the following command (assuming PyQt5 has been installed and set up)

python3 formMain.py

References

The research papers referred for this project can be found here.