ssisksl77 / robond-perception-project

Project: Perception Pick & Place

Writeup Template: You can use this file as a template for your writeup if you want to submit it as a markdown file, but feel free to use some other method and submit a pdf if you prefer.

previous Exercises

First of all, I've used the previous Exercise which is 'sensor_stick' Exercise.

1. filtering RANSAC Exercise : https://www.youtube.com/watch?v=vt0QpQmOjto - In this project, passthrough filter should be two. I've realized there are two boxes one the left and right hand side. you should make a filter with y-axis
2. Cluster Visulization : https://www.youtube.com/watch?v=xcQ5ySgGAMM
3. Object Recognition : https://www.youtube.com/watch?v=bwYcwcsnXbU
4. Train SVM : https://www.youtube.com/watch?v=GXwLPqTjkZ8 also contained in this repository

Project, capture features

first submit

To Train SVM in project. I've used the 'sensor_stick' project. I've changed models and capture features. moving models folder from Project to sensor_stick (models_backup is for sensor_stick) before capturing features, should change models list

Train Project SVM : https://www.youtube.com/watch?v=dOeFrYC3-7Y the accuracy was not that great. perhaps I should've looped more.

Project, Object Recognition

copied from model.sav which I'd made before in sensor_stick to project script folder. and recognize.

result outputs is in yaml folder and images are below. yaml_01 yaml_02 yaml_03

second submit

changed several variables and I have more accurate model.sav second training.sav second model.sav

REVIEW:

1. To finish this project. what I could do was just reading. I've never learned like this. so, I sometimes used LIVE asking and just read lectures over and over.
2. To get better result. I could spend more time to capture features( more loop). that will make better model.sav and better result.

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