This repository is dedicated to the research project "Vision-Based Tactile Information Extraction and Localization for Dexterous Grasping," focusing on leveraging vision-based systems to infer tactile properties for advanced robotic manipulation tasks.
0.Texture_Extraction_and_Analysis: Scripts and documentation for texture feature extraction and analysis.1.RHBSetup: Setup files for the robot hand base.2.Initial_pcd: Initial point cloud data collected from the RealSense camera.3.Filtered_pcd: Processed point cloud data after filtering.4.Texture_Regions_Examples: Examples of identified texture regions in the point cloud.5.Images_Examples: Sample images showing the results of texture analysis.pcd_1 for each object: Point cloud data for individual objects, first set.pcd_2 for each object: Point cloud data for individual objects, second set.Parameter Values and Correspondences: Documentation for parameter values and their correspondences used in analysis.initial_example.png: An initial example image showing the point cloud data visualization.LICENSE: The license file for the project.
get_pointcloud.py: Captures point cloud data from a RealSense camera and processes it into a usable format.texture_analysis.py: Analyzes texture features within the point cloud data and separates regions based on texture.get_pointcloud2.py,iros_texture_analysis.py,openpcd.py: Additional scripts for point cloud data handling and analysis.
To run the scripts in this repository, you need the following dependencies installed:
- Python 3.x
- NumPy
- Open3D
- Pyrealsense2
- SciPy
Please refer to the 0.Texture_Extraction_and_Analysis directory for detailed instructions on setting up the environment and running the scripts for texture extraction and analysis.
Contributions to this project are welcome. Please refer to the contributing guidelines for more information.
This project is licensed under the MIT License - see the LICENSE file for details.