monkeyrom/3D_Object_detection_with_ONNX

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Python
Created almost 2 years ago
Updated almost 2 years ago

monkeyrom/3D_Object_detection_with_ONNX

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3D_Object_Detection_and_Pose_Estimation_for_Automated_Bin-Picking_Application

Automate bin-picking tasks using the Dobot CR5 robotic arm. The system combines YOLOv5 for object detection and FAST/BRISK for feature detection and matching. With a depth sensor camera, we achieve real-time object detection and precise pose estimation, improving industrial automation and operational efficiency.

CR5_Project

Dobot CR5 with Intel Realsense D435i for object detection and pose estimation (bin-picking application).

pointcloud_by_open3D

Intel RealSense camera to capture depth and color frames and converts them into a 3D point cloud using the Open3D library.

CR_ROS

FAST_Feature_Detector

The provided Python project uses the OpenCV library to perform real-time keypoint detection using the FAST (Features from Accelerated Segment Test) algorithm.

Dobot_CR5_with_Realsense