Thesis Planning

[anhtuduong]

I. Introduction

• 1. Background of the project and motivation, including the significance of vision-based object detection and localization in robotics
• 2. Problem statement and the research gap that this project aims to address
• 3. Objectives and research questions that guide the project
• 4. Scope and limitations of the project

II. Literature Review

• Literature Review #12

• 1. Overview of previous studies related to vision-based object detection and localization in robotics, including their strengths and limitations

• 2. In-depth review of popular object detection algorithms and techniques, such as YOLO, Faster R-CNN, and SSD

• 3. Overview of stereo vision and its application in object localization, including related challenges and solutions

• 4. Overview of robotics arm and its kinematics, including forward and inverse kinematics, and the importance of accurate kinematics for successful object manipulation

III. Methodology

• 1. System architecture and hardware components, including the UR5 robot arm and ZED stereo camera
• 2. Data collection and preparation, including image preprocessing and labeling
• 3. Object detection using YOLOv5, including model training, optimization, and evaluation
• 4. Object localization using stereo vision and template matching, including the use of OpenCV and ROS packages
• 5. Robot kinematics and motion planning, including the development of a finite state machine and trajectory planning
• 6. Integration and control of the system, including calibration, testing, and deployment

IV. Results and Analysis

• 1. Evaluation metrics for object detection and localization, including precision, recall, F1-score, and 3D pose estimation accuracy
• 2. Experimental setup and results, including data analysis and visualization
• 3. Analysis of the performance of the system, including the impact of different parameters on the system's accuracy and efficiency
• 4. Discussion of the limitations and potential improvements for future work

V. Conclusion and Future Work

• 1. Summary of the project and main contributions, including how it addresses the research gap identified in the introduction
• 2. Discussion of the implications and potential applications of the project in robotics and related fields
• 3. Future work and recommendations for improving the system's accuracy, efficiency, and scalability

VI. References

• 1. List of references cited in the thesis, including academic papers, books, and online resources

VII. Appendices

• 1. Technical details of the system implementation, including system design, code snippets, and software architecture
• 2. Additional experimental results and analysis, including visualizations and graphs
• 3. Instructions for replicating the project, including system setup, software installation, and configuration