Vision based robotic manipulation
Vision is a useful information for robot manipulation tasks because through it, a large spectrum of details about the environment can be provided. In this thesis, by introducing a YOLO v3 object detection algorithm, we propose a vision based robotic manipulation method to handle different objects de...
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| Format: | Thesis-Master by Coursework |
| Language: | English |
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Nanyang Technological University
2020
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| Online Access: | https://hdl.handle.net/10356/143730 |
| _version_ | 1811680517566758912 |
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| author | Yao, Yuanzhe |
| author2 | CHEAH Chien Chern |
| author_facet | CHEAH Chien Chern Yao, Yuanzhe |
| author_sort | Yao, Yuanzhe |
| collection | NTU |
| description | Vision is a useful information for robot manipulation tasks because through it, a large spectrum of details about the environment can be provided. In this thesis, by introducing a YOLO v3 object detection algorithm, we propose a vision based robotic manipulation method to handle different objects detection tasks in real time and output position data of target center points with a RealSense D435i RGB-D camera. The proposed method is very flexible to environment changing and has the fast reaction speed and small computational cost. Furthermore, in order to test the proposed method performance, through socket communication, we successfully integrate the method with a UR5-e robot as a robot work cell to perform a specific pick-and-place task, which can be assistant for physically challenged people. Simulation results are presented to illustrate the performance of the proposed method.
Keywords: Convolution Neural Network (CNN), YOLO, pick-and-place task, RGB-D
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| first_indexed | 2024-10-01T03:26:19Z |
| format | Thesis-Master by Coursework |
| id | ntu-10356/143730 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:26:19Z |
| publishDate | 2020 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1437302023-07-04T16:47:38Z Vision based robotic manipulation Yao, Yuanzhe CHEAH Chien Chern School of Electrical and Electronic Engineering ECCCheah@ntu.edu.sg Engineering::Electrical and electronic engineering::Control and instrumentation Engineering::Electrical and electronic engineering::Computer hardware, software and systems Vision is a useful information for robot manipulation tasks because through it, a large spectrum of details about the environment can be provided. In this thesis, by introducing a YOLO v3 object detection algorithm, we propose a vision based robotic manipulation method to handle different objects detection tasks in real time and output position data of target center points with a RealSense D435i RGB-D camera. The proposed method is very flexible to environment changing and has the fast reaction speed and small computational cost. Furthermore, in order to test the proposed method performance, through socket communication, we successfully integrate the method with a UR5-e robot as a robot work cell to perform a specific pick-and-place task, which can be assistant for physically challenged people. Simulation results are presented to illustrate the performance of the proposed method. Keywords: Convolution Neural Network (CNN), YOLO, pick-and-place task, RGB-D camera Master of Science (Computer Control and Automation) 2020-09-21T04:39:29Z 2020-09-21T04:39:29Z 2020 Thesis-Master by Coursework https://hdl.handle.net/10356/143730 en application/pdf Nanyang Technological University |
| spellingShingle | Engineering::Electrical and electronic engineering::Control and instrumentation Engineering::Electrical and electronic engineering::Computer hardware, software and systems Yao, Yuanzhe Vision based robotic manipulation |
| title | Vision based robotic manipulation |
| title_full | Vision based robotic manipulation |
| title_fullStr | Vision based robotic manipulation |
| title_full_unstemmed | Vision based robotic manipulation |
| title_short | Vision based robotic manipulation |
| title_sort | vision based robotic manipulation |
| topic | Engineering::Electrical and electronic engineering::Control and instrumentation Engineering::Electrical and electronic engineering::Computer hardware, software and systems |
| url | https://hdl.handle.net/10356/143730 |
| work_keys_str_mv | AT yaoyuanzhe visionbasedroboticmanipulation |