Local Feature Recognition Guide
The Local Feature Recognition feature locates Target Objects through their local features. This document mainly describes how to configure Target Objects with obvious local features in actual scenarios and use One-click Integration to train a model.
1. Operation Guide
The Local Feature Recognition feature is suitable for general Target Object random picking scenarios and general Target Object ordered loading and unloading scenarios
- When the Target Object in the actual scene has obvious local features, select the Local Feature Recognition feature when creating a new Project; if it was not selected when creating the new Project, go to the Task Information page, click Edit in the lower-right corner, then select Local Feature Recognition and save.
- On the Target Object page, upload the Point Cloud, keypoints (optional), and mesh file of the entire Target Object, as well as the Point Cloud, keypoints (optional), and mesh file of the local feature of the Target Object
If you need to recognize multiple local features of the same Target Object, you can click "Add New" to upload the Point Cloud, keypoints (optional), and mesh file for multiple local features
2. One-click Integration Training Guide
After configuring the Target Object with obvious local features on the Target Object page and setting the ROI, return to the main interface, select the corresponding Target Object and ROI in Task Information, and then click the One-click Integration panel. An "Export Successful" pop-up appears
Click the export path to enter the training configuration folder and check whether the training configuration is correct
After the check is complete, click "Create Task"
- You can view the task on the DexVerse platform (address: http://192.168.4.135:8081/tasklist), download the "Data Rendering" file of the corresponding task, and click TB to check whether there are multiple local features.
- After model training is complete, download the model, upload it on the Target Object page in PickWiz, run it again, and verify the model effect
3. Example: General Target Object Random Picking / General Target Object Ordered Loading and Unloading Scenario
Random Scenario
Ordered Scenario
In the ordered scenario, in addition to uploading the Point Cloud, keypoints (optional), and mesh file of the local feature, you also need to enter the infeed form according to how the Target Object is placed in the actual scene
