Vision dataset for ColRobot WP6 use-case

A specific 2D sensing system, comprising of a 2D camera, a backlit feeder and its associated processing has been developed for the ColRobot kitting use-case. This sensing system is integrated with the gripper and the robot.

The objective of the sensing system is to detect and locate the kitting parts (notably screws, washers and nuts) in order to grasp them.

The sensing system must be able:

To be rapidly reconfigured for parts of new dimensions (in case of evolution of the kitting specifications), without reprogramming.

To be able to isolate parts among similar (but not identical) parts.

To be able to avoid detecting parts that are overlapping.

To be able to avoid detecting parts that are too close to each other (clearance should be above 6mm).

Constraints are imposed on the processing algorithm to avoid grasping issues:

Do not detect overlapping parts.

Do not detect parts too close to another part (identical or not), i.e. keep 6mm clearance around any detected part.

All input pictures are taken with the same sensor, at the same distance to the backlit feeder.

Processing parameters are the same for all images.

The list of parts to be detected with their parameters is given below in the Data input section.

For all input images, all parts given in the input parameters are searched for and an output image is created if found highlighting a point of interest of the part, and an associated oriented frame.

On some input images, additional (non-referenced) parts are present in order to test the discrimination properties of the algorithm (false positives).

The dataset takes the following format:

Input data:

List of input images.

Table of parameters to be given to the processing algorithm for each input image.

For each part, a part type, and an ordered list of dimensions (semantics depending on the part type).

Output data:

A structured folder of output images

For each input images, a clone of the input image is created for each part described in the input parameters, only if found, and highlighting:

A point of interest (static in the part frame for a given part type).

An associated frame describing the part orientation.