Week 11/08/2024 - 17/08/2024

Issue with object recognition model

After trouble shooting the programme for object recognition, the programme was still unable to detect the tools, whether through saved image or video. It was then discovered that the model's accuracy was very low and 30 epochs was not sufficient to build a good model.

After increasing the number of epochs to 50, the results were slightly better, but still not good enough.

Image shows two labels when there is only one tool (scalpel).

Inaccurate - unable to detect object (extractor).

Result is accurate

Next step: to retrain the model with more better quality images.

Attempt was made at moving the arm using remote procedure call by inputting the cartesian values.

The UR10 arm did not initially move to the intended position until adjustments were made to the Z value. 400mm needs to be added to the Z value before it actually reaches the intended position, which I am unable to figure out why.

Attempt was made to open and close the gripper, but by the end of the day, I still did not managed to in spite of studying the manual.

After adjustments were made to the model, there was slight improvement but still not enough. The Intel RealSense camera was able to detect the object, but sketchy at best. The background had to be plain and objects had to be moved around in order to be recognised.