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airship_perception package from airship repo

airship_chat airship_description airship_grasp airship_interface airship_localization airship_navigation airship_object airship_perception airship_planner

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License Apache 2.0
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/airs-cuhk/airship.git
VCS Type git
VCS Version main
Last Updated 2025-03-16
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

airship_perception

Additional Links

No additional links.

Maintainers

  • airsbot2

Authors

No additional authors.
airship_perception/README.md

airship_perception

This project combines open-vocabulary object detection and semantic segmentation to achieve open-vocabulary object segmentation. The project uses Grounding DINO and SAM to achieve the segmentation of specified objects.

  • Grasping demo

  • Mapping demo

airship_perception API Overview

airship_perception_node

  • Service
    • airship_perception/SegmentationGrasping: Provides a service to provide grasping node with a mask for specified objects.
    • airship_perception/SegmentationMapping: Provides a service to provide mapping node with the mask of the specified object.

lib/grounded_sam_api

  1. Parameters
    • grounding_dino_model: groundingdino model. (Default: none)
    • sam_predictor: sam model. (Default: none)
    • image: input image. (Default: none)
    • classes: objects. (Default: none)
    • box_threshold: box threshold. (Default: 0.3)
    • text_threshold: text threshold. (Default: 0.25)
    • nms_threshold: nms threshold. (Default: 0.8)
    • action: grasp or map. (Default: None)

To Do List

  • Improve object segmentation algorithms and enhance segmentation efficiency.
  • Deploy the model in the cloud and build the cloud-edge data transmission architecture.
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_copyright
ament_flake8
ament_pep257

System Dependencies

Name
python3-pytest

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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