ECE 847 Final Project Bryan Willimon
Dec 31, 2015
ECE 847 Final ProjectBryan Willimon
Background of Project Main Idea and Focus Drawbacks and Obstacles Results Conclusion/Future Work
Current Research Project Using computer vision to grab
an unknown object from within a pile given a target item
Unknown = no previous knowledge of object
Working with PUMA arm in EIB Previous projects have
achieved similar results but with known surroundings and known objects (STAIR)
Extract an unknown object using various types of segmentation working together
Graph Segmentation and Lucas-Kanade Graph Segmentation breaks image into
many regions Largest region (not touching a border) is
determined to be object on top
Determine centroid of the object to be the point of grasping (for 2D image)
Use Lucas-Kanade to give feature points in the whole image
Only track the feature points on current object
Continue tracking until all points are gone and repeat process until target is found
Drawbacks Graph Segmentation is slow Only using 2D image for grasping
Obstacles Find and use a faster algorithm Grasping a 3D object requires 3D modeling
and/or motion Also check if any other objects will be
damaged in any way once current item is being moved
Results provide a way to extract an unknown object from a pile
Explore other segmentation algorithms and find something faster Using color and/or clustering
Work on grasping 3D objects