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<!DOCTYPE html>
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<title>Avinash Sen - Master Research Project Blog</title>
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<div class="site-heading">
<h1>Bin Picking System</h1>
<span class="subheading">My Master Research Project Blog</span>
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<h2 class="section-heading">Development and Evaluation of a Deep Learning based Robotic Bin Picking Vision System using ROS</h2>
<p>The technique used by a robot to detect the objects and estimating their poses to grab, which are randomly placed inside a box or a pallet is called bin picking.</p>
<p>My purpose with this project is to develop a system that is based on learning the appearance model of objects using convolutional neural networks (CNN) is proposed.</p>
<p>Using PyTorch deeplearning framework, a 6DoF Poses of objects in the bin is estimated and it has experimented with the usability of depth sensing cameras in operation room lighting. Creation of the 3D object models is done using Blender tool, which is for Generating synthetic training dataset with the help of Unreal Engine(UE4) and NVidia Deep Learning Data Synthesizer(NDDS) software. By Deep Learning the created model, the object poses with adequate accuracy required for semantic grasping by any robot can be obtained. The overall system is implemented using ROS framework.</p>
<p>I have placed my work in the Github repo : <a href="https://github.com/avinashsen707/AUBOi5-D435-ROS-DOPE">https://github.com/avinashsen707/AUBOi5-D435-ROS-DOPE</a></p>
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<div class="post-preview">
<a href="post_0_1.html">
<h2 class="post-title">
Week 0-1 | (29/07 - 10/08)
</h2>
<h3 class="post-subtitle">
<ul>
<li>Project Discussion and Topic selection.</li>
</ul>
</h3>
</a>
<p class="post-meta">Posted by
<a href="about.html">Avinash Sen</a>
on April 02, 2020</p>
</div>
<hr>
<div class="post-preview">
<a href="post_2_4.html">
<h2 class="post-title">
Week 2-4 | (12/08 - 31/08)
</h2>
<h3 class="post-subtitle">
<ul>
<li>ROS Installation and Tutorials.</li>
</ul>
</h3>
</a>
<p class="post-meta">Posted by
<a href="about.html">Avinash Sen</a>
on April 03, 2020</p>
</div>
<hr>
<div class="post-preview">
<a href="post_5_7.html">
<h2 class="post-title">
Week 5-7 | (02/09 - 21/09)
</h2>
<h3 class="post-subtitle">
<ul>
<li>ROS Workshop.</li>
<li>Preliminary Report.</li>
</ul>
</h3>
</a>
<p class="post-meta">Posted by
<a href="about.html">Avinash Sen</a>
on April 04, 2020</p>
</div>
<hr>
<div class="post-preview">
<a href="post_8_10.html">
<h2 class="post-title">
Week 8-10 | (23/09 - 12/10)
</h2>
<h3 class="post-subtitle">
<ul>
<li>Presentation for the first Review Meeting.</li>
<li>Research for the state of the art.</li>
<li>First data acquisition from the Intel Realsense D435 Depth Camera.</li>
</ul>
</h3>
</a>
<p class="post-meta">Posted by
<a href="about.html">Avinash Sen</a>
on April 05, 2020</p>
</div>
<hr>
<div class="post-preview">
<a href="post_11_13.html">
<h2 class="post-title">
Week 11-13 | (14/10 - 02/11)
</h2>
<h3 class="post-subtitle">
<ul>
<li>Continuation of the research for the state of the art.</li>
<li>Developments on the installation of the Realsense D435.</li>
<li>Segmentation of the data acquired from the Realsense D435.</li>
</ul>
</h3>
</a>
<p class="post-meta">Posted by
<a href="about.html">Avinash Sen</a>
on April 06, 2020</p>
</div>
<hr>
<div class="post-preview">
<a href="post_14_16.html">
<h2 class="post-title">
Week 14-16 | (04/11 - 23/11)
</h2>
<h3 class="post-subtitle">
<ul>
<li>Calibration of the Realsense D435 (Intrinsic Caliberation).</li>
<li>Processing of the data acquired from the Realsense D435 to Determine the Centroid of an object and its normal.</li>
</ul>
</h3>
</a>
<p class="post-meta">Posted by
<a href="about.html">Avinash Sen</a>
on April 07, 2020</p>
</div>
<hr>
<div class="post-preview">
<a href="post_17_18.html">
<h2 class="post-title">
Week 17-18 | (25/11 - 07/12)
</h2>
<h3 class="post-subtitle">
<ul>
<li>Presentation for the Second Review Meeting.</li>
<li>Continuation of the research for the state of the art.</li>
</ul>
</h3>
</a>
<p class="post-meta">Posted by
<a href="about.html">Avinash Sen</a>
on April 08, 2020</p>
</div>
<hr>
<div class="post-preview">
<a href="post_19_21.html">
<h2 class="post-title">
Week 19-21 | (09/12 - 28/12)
</h2>
<h3 class="post-subtitle">
<ul>
<li>Support for the Realsense D435 Camera.</li>
<li>Installation of the Aubo-i5's Package and coordinate Transformations.</li>
<li>Continuation of the research for the state of the art.</li>
</ul>
</h3>
</a>
<p class="post-meta">Posted by
<a href="about.html">Avinash Sen</a>
on April 09, 2020</p>
</div>
<hr>
<div class="post-preview">
<a href="post_22_24.html">
<h2 class="post-title">
Week 22-24 | (30/12 - 18/01)
</h2>
<h3 class="post-subtitle">
<ul>
<li>Calibration of the Realsense D435 (Extrinsic Caliberation).</li>
</ul>
</h3>
</a>
<p class="post-meta">Posted by
<a href="about.html">Avinash Sen</a>
on April 10, 2020</p>
</div>
<hr>
<div class="post-preview">
<a href="post_25_26.html">
<h2 class="post-title">
Week 25-26 | (20/01 - 01/02)
</h2>
<h3 class="post-subtitle">
<ul>
<li>Continuation of the research for the state of the art.</li>
<li>DOPE (Deep Object Pose Estimation) Repo implementing in ROS Enviornment.</li>
</ul>
</h3>
</a>
<p class="post-meta">Posted by
<a href="about.html">Avinash Sen</a>
on April 11, 2020</p>
</div>
<hr>
<div class="post-preview">
<a href="post_27_29.html">
<h2 class="post-title">
Week 27-29 | (03/02 - 22/02)
</h2>
<h3 class="post-subtitle">
<ul>
<li>Development of 3D model and Custom dataset.</li>
<li>Training and testing the Dataset for Evaluation.</li>
</ul>
</h3>
</a>
<p class="post-meta">Posted by
<a href="about.html">Avinash Sen</a>
on April 12, 2020</p>
</div>
<hr>
<div class="post-preview">
<a href="post_30.html">
<h2 class="post-title">
Week 30 | (24/02 - 29/02)
</h2>
<h3 class="post-subtitle">
<ul>
<li>Presentation for the Third Review Meeting.</li>
</ul>
</h3>
</a>
<p class="post-meta">Posted by
<a href="about.html">Avinash Sen</a>
on April 13, 2020</p>
</div>
<hr>
<div class="post-preview">
<a href="post_31_32.html">
<h2 class="post-title">
Week 31-32 | (02/03 - 14/03)
</h2>
<h3 class="post-subtitle">
<ul>
<li>Preparation for the Paper Submission in International colloquium.</li>
</ul>
</h3>
</a>
<p class="post-meta">Posted by
<a href="about.html">Avinash Sen</a>
on April 14, 2020</p>
</div>
<hr>
<div class="post-preview">
<a href="post_33_34.html">
<h2 class="post-title">
Week 33-34 | (16/03 - 28/03)
</h2>
<h3 class="post-subtitle">
<ul>
<li>Publishing the Github Repository for Project.</li>
</ul>
</h3>
</a>
<p class="post-meta">Posted by
<a href="about.html">Avinash Sen</a>
on April 15, 2020</p>
</div>
<hr>
<div class="post-preview">
<a href="post_35_38.html">
<h2 class="post-title">
Week 35-38 | (30/03 - 18/04)
</h2>
<h3 class="post-subtitle">
<ul>
<li>Publishing of Github Pages for Project Documentation.</li>
</ul>
</h3>
</a>
<p class="post-meta">Posted by
<a href="about.html">Avinash Sen</a>
on April 19, 2020</p>
</div>
<hr>
<div class="post-preview">
<a href="post_39_45.html">
<h2 class="post-title">
Week 39-45 | (20/04 - 30/05)
</h2>
<h3 class="post-subtitle">
<ul>
<li>Online courses for Deep Learning Specialisation and TensorFlow.</li>
</ul>
</h3>
</a>
<p class="post-meta">Posted by
<a href="about.html">Avinash Sen</a>
on May 31, 2020</p>
</div>
<hr>
<div class="post-preview">
<a href="post_46_48.html">
<h2 class="post-title">
Week 46-48 | (01/06 - 20/06)
</h2>
<h3 class="post-subtitle">
<ul>
<li>System Integration.</li>
<li> Experiments and Results.</li>
</ul>
</h3>
</a>
<p class="post-meta">Posted by
<a href="about.html">Avinash Sen</a>
on June 21, 2020</p>
</div>
<hr>
<div class="post-preview">
<a href="post_49_50.html">
<h2 class="post-title">
Week 49-50 | (22/06 - 04/07)
</h2>
<h3 class="post-subtitle">
<ul>
<li>Presentation for the Fourth Review Meeting.</li>
<li>Demonstration.</li>
</ul>
</h3>
</a>
<p class="post-meta">Posted by
<a href="about.html">Avinash Sen</a>
on July 05, 2020
</p>
</div>
<hr>
<div class="post-preview">
<a href="post_51_53.html">
<h2 class="post-title">
Week 51-53 | (06/07 - 25/07)
</h2>
<h3 class="post-subtitle">
<ul>
<li>Project Report Submission.</li>
</ul>
</h3>
</a>
<p class="post-meta">Posted by
<a href="about.html">Avinash Sen</a>
on July 26, 2020</p>
</div>
<hr>
<div class="post-preview">
<a href="post_54_55.html">
<h2 class="post-title">
Week 54-55 | (27/07 - 08/08)
</h2>
<h3 class="post-subtitle">
<ul>
<li>Final Viva Voce.</li>
<li>Endorsements.</li>
</ul>
</h3>
</a>
<p class="post-meta">Posted by
<a href="about.html">Avinash Sen</a>
on August 09, 2020</p>
</div>
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<h2 class="post-title">
Demonstration of the developed Bin-picking Vision System.
</h2>
<iframe width="640" height="360"
src="https://www.youtube.com/embed/IGGV9dj_fZs?autoplay=1&loop=1&playlist=IGGV9dj_fZs">
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