This work presents a real-time clustering technique that takes advantage of the unique properties of event-based vision sensors. Our approach redefines the well-known mean-shift clustering method using asynchronous events instead of conventional frames.
The objective of the system is to control a baxter robot using the kinect V2 and tis body structure extraction modules (body tracking) under the ROS (Robot Operating System) framework. Modules will be developed to make an interface between the robot and the Kinect body pose estimation so that the robot can imitate the movements of the operator in real time
The project presents various demonstrations of pick and place tasks with the Baxter research robot, with object recognition and manipulation with objects of various shapes, sizes, and colours. It also includes trajectory and motion planning and the use of different grippers and simulation with Gazebo.
This project shows the development of various classification tasks in static and dynamic environments with the Baxter robot based on color, using also a conveyor where pieces are transported to be classified in real time.