ECE 847 Final ProjectBryan Willimon

Background of Project Main Idea and Focus Drawbacks and Obstacles Results Conclusion/Future Work

Current Research Project Using computer vision to grab

an unknown object from within a pile given a target item

Unknown = no previous knowledge of object

Working with PUMA arm in EIB Previous projects have

achieved similar results but with known surroundings and known objects (STAIR)

Extract an unknown object using various types of segmentation working together

Graph Segmentation and Lucas-Kanade Graph Segmentation breaks image into

many regions Largest region (not touching a border) is

determined to be object on top

Determine centroid of the object to be the point of grasping (for 2D image)

Use Lucas-Kanade to give feature points in the whole image

Only track the feature points on current object

Continue tracking until all points are gone and repeat process until target is found

Drawbacks Graph Segmentation is slow Only using 2D image for grasping

Obstacles Find and use a faster algorithm Grasping a 3D object requires 3D modeling

and/or motion Also check if any other objects will be

damaged in any way once current item is being moved

Results provide a way to extract an unknown object from a pile

Explore other segmentation algorithms and find something faster Using color and/or clustering

Work on grasping 3D objects