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perception-finnal's Introduction

Final Project of 31392 - Perception of Autonomous Systems

Project Goals

  • Calibrate and rectify the stereo input.
  • Process the input images to detect objects on the conveyor and track them in 3D, even under occlusion.
  • Train a machine learning system that can classify unseen images into 3 classes (cups, books and boxes) based either on 2D or 3D data.

To Do

  • 4/7/2020-4/14/2020 Calibrate and Rectify the stereo input.
  • 4/15/2020-4/22/2020 Track objects in 3D.
  • 4/23/2020-4/25/2020 State Estimation.
  • 4/26/2020-5/2/2020 Classification.
  • 5/3/2020-5/10/2020 Report and Video.

Video

The finnal result can be seen on YouTube

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perception-finnal's Issues

About the Kalman Filter

Maybe in Kalman Filter, the 1st and 4th row of the F matrix should be [1 1 0.5 0 0 0] and [0 0 0 1 1 0.5], since for the displacement we have "S = S_0 + vt+0.5a*(t^2)", when t=1, "S=S_0+v+0.5*a"

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