writeup_template.md

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.

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Writeup / README

1. Provide a Writeup / README that includes all the rubric points and how you addressed each one. You can submit your writeup as markdown or pdf.

You're reading it!

Exercise 1, 2 and 3 pipeline implemented

1. Complete Exercise 1 steps. Pipeline for filtering and RANSAC plane fitting implemented.

Utilized Passthrough and RANSAC filtering on the point-cloud data

2. Complete Exercise 2 steps: Pipeline including clustering for segmentation implemented.

Utilized Euclidean Clustering to distinguish identified objects for pick & place

2. Complete Exercise 3 Steps. Features extracted and SVM trained. Object recognition implemented.

roslaunch sensor_stick training.launch
rosrun sensor_stick capture_features.py

Output is training_set.sav file

rosrun sensor_stick train_svm.py

Output is Confusion Matrices and model.sav file

Pick and Place Setup

1. For all three tabletop setups (test*.world), perform object recognition, then read in respective pick list (pick_list_*.yaml). Next construct the messages that would comprise a valid PickPlace request output them to .yaml format.

Test World 1

Confusion Matrix - Not Confused

3 of 3 Objects Identified

Output_1 YAML file included

Test World 2

Confusion Matrix - Not Confused

5 of 5 Objects Identified

Output_2 YAML file included

Test World 3

Confusion Matrix - Not Confused

8 of 8 Objects Identified

Output_3 YAML file included