when did that happen? · pr2 challenge •integrated ros components into a complete behavior....
TRANSCRIPT
Summer 09 is over.
When did that happen?
What have I done?
• Tools for annotating data• Tools to for data access• Executive to capture data autonomously• Annotation lifting• PR2 challenge
Data annotation
New modes of annotation
• Several new ways toannotate data– Multiple fast
bounding boxes– Zoom-in interface for
detailed polygonalannotation
– Grouping images totrack people
– Free text labels
http://vm7.willowgarage.com/mt/good_results/bottles-p-2/p1/
New modes of annotation
• Several new ways toannotate data– Multiple fast
bounding boxes– Zoom-in interface for
detailed polygons– Grouping images to
track people– Free text labels
http://vm7.willowgarage.com/mt/good_results/bottles-p-2/p1/
New modes of annotation
• Several new ways toannotate data– Multiple fast
bounding boxes– Zoom-in interface for
detailed polygonalannotation
– Grouping images totrack people
– Free text labels
New modes of annotation
• Several new ways toannotate data– Multiple fast
bounding boxes– Zoom-in interface for
detailed polygonalannotation
– Grouping images totrack people
– Free text labels
Grading!
• Just filter out poorresults
Much easier thanannotating yourself
• New task to run gradingon MechTurk
• Random sample ofthumbnails
• Grading by worker• Track grading conflicts
http://vm7.willowgarage.com/mt/grading/thumbnails_random/prf-jul-08-L2-p/
Grading!
• Just filter out poorresults
Much easier thanannotating yourself
• New task to rungrading on turk
• Random sample ofthumbnails
• Grading by worker
http://vm7.willowgarage.com/mt/grading/thumbnails_random/prf-jul-08-L2-p/
Data annotation server
• Django server to manage dataannotation process
• Stable server• Consistent user interface• Scalable task architecture• First 5 users• ROS integration across 2+ different masters
– Image in (over HTTP post)– cv_mech_turk/ExternalAnnotation out
http://vm7.willowgarage.com/
Data access
• Bag server– Random access into a bag file– Replay of select messages
• Bag image view– Browsing images off a bag– Example client to the bagserver
Data lifting
• 2D to 3D correspondence• Annotation of laser clouds with object
labels, image coordinates an image IDs• Image storage server• Static map of all annotations• Whiteboard detector from static object
map
Camera “calibration”
• Create a virtual cameraand move it to align withthe laser cloud or robotmodel
• Fix major calibrationerrors
http://pr.willowgarage.com/wiki/camera_offsetter
before
after
Data collection executive
• High level executive based on M2 pythonexecutive– Move to waypoints– Position head– Record data– Record action state
• Select images when the “record” action wasactive and annotate them.
PR2 challenge
• Integrated ROS components into a completebehavior.
• Preemptable high level state machine:– Allows to switch between autonomy and teleop– Preempts child actions– External GUI to watch and control the executive
• Great prototype for hardware in the loop test
PR2 challenge• Integrated ROS
components into acomplete behavior.
• Preemptable high levelstate machine:– Allows to switch between
autonomy and teleop– Preempts child actions– External GUI to watch
and control the executive• Great prototype for
hardware in the looptest and learning
Thank you