Matlab APC second presentation .pdf



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Tutorial

Pierre Ralite

You should choose a 640x480 because the depth sensor as the same resolution but here we
choose a better resolution ( 1280x960 ) and we will divide the position by two later to have
depth and rgb at same dimensions

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tutorial APC CTAI Pierre Ralite

2

the shelf must be at least 70cm away from the Kinect according to the Kinect manual

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tutorial APC CTAI Pierre Ralite

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Creates a collection of images

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tutorial APC CTAI Pierre Ralite

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the shelf must be at least 70cm away from the Kinect according to the Kinect manual

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tutorial APC CTAI Pierre Ralite

5

img
preprocessing

gives rectangles
for each object
and stores it
shows the
boundingboxes
on the image

creates a
collection with
the new_objects
croped from
full_shelf img
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tutorial APC CTAI Pierre Ralite

6

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tutorial APC CTAI Pierre Ralite

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first for loop in j is used to
process surf on each new
object from full shelf

second for loop in i is used
to process surf on the
wanted objet collection

stores the best matching
result

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tutorial APC CTAI Pierre Ralite

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Trying to
match

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tutorial APC CTAI Pierre Ralite

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File .txt
xyz

Matlab

Visual
Studio
C# C++

Robot

xyz

Low speed

Low speed

Low speed

Low speed
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POFF
PHOME
POAPP
PO
Close Pinch
POAPP
PHOME
PBA
PB
Open Pinch
PBA
PHOME

(XO, YO, ZO-200)
y

x
(XB, YB+100, ZB)

tutorial APC CTAI Pierre Ralite

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1)
2)
3)
4)
5)
6)
7)
8)
9)

http://amazonpickingchallenge.org/details.shtml
http://support.xbox.com/en-US/xbox-360/kinect/kinect-sensor-components
http://openkinect.org/wiki/Protocol_Documentation#Control_Commands;a=summary
https://en.wikipedia.org/wiki/Kinect
http://www.mathworks.com/products/image/
http://www.mathworks.com/discovery/object-recognition.html
Digital System Design 2nd Edition by Potowski
Image processing with Matlab by Carol Martinez, Course: Computer Vision for robo2cs, Beijing July 2014
http://www.mathworks.com/help/vision/examples/image-search-using-point-features.html

Useful links:
1) http://www.mathworks.com/matlabcentral/linkexchange/links/2718-kinect-for-matlab
2) http://studentguru.gr/b/vangos/archive/2011/01/20/how-to-successfully-install-kinect-windows-openninite
3) http://www.mathworks.com/matlabcentral/fileexchange/30242-kinect-matlab
4) Kinect developer toolbox windows Microsoft http://www.microsoft.com/enus/download/details.aspx?id=36998
5) https://sites.google.com/site/julianquirogasepulveda/teaching/senales-e-imagenen
6) http://www.mathworks.com/help/imaq/acquiring-image-and-skeletal-data-using-the-kinect.html
7) http://www.instructables.com/id/Control-a-Robotic-Arm-with-the-Microsoft-Kinect/?ALLSTEPS

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