Machine Learning

Real-time object recognition and 6DOF pose estimation based on Linemod algorithm with ROS and PCL pointcloud

In this tutorial, I’m gonna show you how to do object recognition and 6DOF pose estimation in real-time based on Linemod algorithm with ROS and PCL pointcloud. First, you need to install ork:

Then add the model of your object for tracking to Couch DB:

You need to install Kinect driver, if you don’t …

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Sample based-optimisation-based planner with signed distance fields cost map

Rapidly-exploring random trees (RRT) and their variant are a very power solution for solving motion planning problem in robotics, but they suffer from finding an optimise solution and the generated path is usually jerky with redundant movements. Sample based-optimisation-based planners benefit the robustness of RRT and the possibility of imposing a cost function. Here in this work, I …

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Solving of optimisation problem with evolutionary algorithm (LM-CMA-ES)

Limited-Memory CMA-ES (LM-CMA-ES)  is a variation of CMA-ES which has been tailored for large-scale optimisation with limited memory. As a warm up here, I have used this algorithm to solve the min point of the following function: $$ z= -( 4 \times  e^{- ( (x-4)^2 +(y-4)^2 ) }+ 2 \times e^{- ( (x-2)^2 +(y-2)^2 ) } )$$ The function …

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Dynamic Time Warping with Python

Dynamic Time Warping (DTW) is a method to align two sequences such that they have minimum distance. For instance, two trajectories that are very similar but one of them performed in a longer time. Here is an example of my code with python. Here is my ROS package with C++ for DTW.

Analytic distance metric for Gaussian mixture models

In many applications, you need to compare two or more data sets with each other to see how much they are similar or different. For instance, you have measured the height of men and women in Japan and Netherlands and now you like to know how much they are different. Two commonly used method for measuring distances …

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