Repository for some experiments with Baxter robot and Object Detection.
The code allows the robot:
- to detect different objects,
- approach them with his arm, independently from their position on the table in front of it,
- pick them up safely and move them.
The models of large size in the folder models can be downloaded from the releases
Please clone this repo with "recurse-submodules" option, or the submodules will be missing:
git clone --recurse-submodules git@github.com:igor-lirussi/Baxter-Robot-ObjDet.git
run python reach_obj_det_YoloV4.py --help for info on executing it.
The notebooks contain some examples of image processing with OpenCV and Pyhton.
The notebooks study both face detection and object-detection.
If it's not in the right path, open the notebook with Anaconda Propt passing the correct disk. Example:
jupyter notebook --notebook-dir=D:
A Yolo v4 model has been trained to detect 9 different classes of food toys present in CoLoRs Lab.
In the releases you can download:
- colors.names
- yolov4-colors.cfg
- yolov4-colors.weights
- Python 3.7.18
Version 1.0 - Initial release, 31-01-2022
Version 1.1 - Added Colors yolov4 trained net, 28-09-2023
- Igor Lirussi @ BOUN Boğaziçi University - CoLoRs Lab
This project is licensed under License - see the LICENSE file for details