RGBD-eye-in-hand-robotics-grasping

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RGBD-eye-in-hand-robotics-grasping

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This project is a eye-in-hand RGBD-based vision system for UR-5 robotics grasping, including voice recognition, object detection and segmentation and pose estimation

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# RGBD-eye-in-hand-robotics-grasping
This project is a eye-in-hand RGBD-based vision system for UR-5 robotics grasping, including voice recognition, object detection and segmentation and pose estimation.

Third Price of ORBBEC 3-D Sensor Application Design Competition in 2018 International Conference on Optical and Photonic Engineering ([ICOPEN 2018](http://jsem.jp/jsem-bbs/img/375.pdf)).

## Demo

[![RGBD Eye-in-hand Robotics Grasping](https://res.cloudinary.com/marcomontalbano/image/upload/v1601718566/video_to_markdown/images/youtube--8ylxOqa1HiY-c05b58ac6eb4c4700831b2b3070cd403.jpg)](https://youtu.be/8ylxOqa1HiY "RGBD Eye-in-hand Robotics Grasping")

## Run
The three subfolders are the key steps of the project, and see the README for details in [voice recognition](https://github.com/HanjiangHu/ROS-voice-module), [object detection and segmentation](https://github.com/HanjiangHu/ROS-detection-and-segmentation) and [pose estimation](https://github.com/HanjiangHu/ROS-pose-estimation-module).

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