Robot control based on orientated object detector
This dissertation introduces an innovative solution for robot arm control based on oriented object detection. The proposed solution integrates a rotated object detection algorithm into the robot control system. The system comprises the D435i depth camera for image capture and the UR5e robot arm f...
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Nanyang Technological University
2024
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sg-ntu-dr.10356-1733222024-02-02T15:41:53Z Robot control based on orientated object detector Li, Yongjie Cheah Chien Chern School of Electrical and Electronic Engineering ECCCheah@ntu.edu.sg Engineering This dissertation introduces an innovative solution for robot arm control based on oriented object detection. The proposed solution integrates a rotated object detection algorithm into the robot control system. The system comprises the D435i depth camera for image capture and the UR5e robot arm for robot arm manipulation to demonstrate the feasibility of this solution. To enhance the system’s detection capabilities, a Convolutional Neural Network (CNN)-based YOLOv5 algorithm with oriented bounding boxes is employed for detecting rotated objects. This technological advancement improves the accuracy of identifying and localizing objects, which is crucial for effective robot arm control. The seamless integration of the YOLOv5 OBB algorithm into the robotic arm enables efficient and precise control. Through experimental validation, the system showcases its effectiveness in achieving a high degree of precision in the control process. The integration of rotated object detection and robotic technologies positions this combination as a valuable solution for enhancing efficiency in applications. This dissertation contributes to the evolving landscape of implementing YOLObased rotated object detection neural networks into robot control systems. The dissertation methodically employed this system to execute a watering task, thereby substantiating the practical viability of the proposed solution Master's degree 2024-01-31T06:04:28Z 2024-01-31T06:04:28Z 2023 Thesis-Master by Coursework Li, Y. (2023). Robot control based on orientated object detector. Master's thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/173322 https://hdl.handle.net/10356/173322 en application/pdf Nanyang Technological University |
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This dissertation introduces an innovative solution for robot arm control based
on oriented object detection. The proposed solution integrates a rotated object
detection algorithm into the robot control system. The system comprises the
D435i depth camera for image capture and the UR5e robot arm for robot arm
manipulation to demonstrate the feasibility of this solution.
To enhance the system’s detection capabilities, a Convolutional Neural Network
(CNN)-based YOLOv5 algorithm with oriented bounding boxes is employed for
detecting rotated objects. This technological advancement improves the accuracy
of identifying and localizing objects, which is crucial for effective robot
arm control. The seamless integration of the YOLOv5 OBB algorithm into the
robotic arm enables efficient and precise control.
Through experimental validation, the system showcases its effectiveness in achieving
a high degree of precision in the control process. The integration of rotated
object detection and robotic technologies positions this combination as a valuable
solution for enhancing efficiency in applications.
This dissertation contributes to the evolving landscape of implementing YOLObased
rotated object detection neural networks into robot control systems. The
dissertation methodically employed this system to execute a watering task, thereby
substantiating the practical viability of the proposed solution |
author2 |
Cheah Chien Chern |
author_facet |
Cheah Chien Chern Li, Yongjie |
format |
Thesis-Master by Coursework |
author |
Li, Yongjie |
author_sort |
Li, Yongjie |
title |
Robot control based on orientated object detector |
title_short |
Robot control based on orientated object detector |
title_full |
Robot control based on orientated object detector |
title_fullStr |
Robot control based on orientated object detector |
title_full_unstemmed |
Robot control based on orientated object detector |
title_sort |
robot control based on orientated object detector |
publisher |
Nanyang Technological University |
publishDate |
2024 |
url |
https://hdl.handle.net/10356/173322 |
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1789968695584358400 |