Robot-Keypoints

Keypoint RCNN based robot joints detection. Original implementation is from Mask R-CNN:

[Test image source]: Deep Robot-to-Camera Extrinsics for Articulated Manipulators (DREAM)

Table of Contents

• Download Process
• How to Run
  • Model Training
  • Model Evaluation
• Annotation format

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Download Process

Note

This repository has been tested on Google Colab. It also depends on opencv-python, albumentations, torch, and torchvision:

git clone https://github.com/kidpaul94/Robot_Keypoints.git
cd Robot_Keypoints/
pip3 install -r requirements.txt

How to Run

Model Training:

Note

custom_train.py receives several different arguments. Run the --help command to see everything it receives.

python3 custom_train.py --help

Model Evaluation:

Note

eval.py receives several different arguments. Run the --help command to see everything it receives.

python3 eval.py --help

Annotation format

{"bboxes": [[x_c, y_c, w, h]], "keypoints": [[[x1, y1, v1], [x2, y2, v2], [x3, y3, v3], ...]]}