Disassembly-Perception

Perception tasks needed for robots to disassemble laptops. It has Deep learning models based on Yolov5 and ssd trained on laptop components dataset that we collected.

Also It has image processing pipelines for planning cutting operations to detach components.

Dependencies

Python >= 3
OpenCV >= 4
ros melodic

Installation

Step 1: Download Repoistory to your catkin workspace and build it.

$ cd your_catkin_ws/src/
$ git clone https://github.com/E-Waste-Project/perception.git
$ cd .. && catkin build perception

Step 2: Create 'models' folder.

$ cd your_catkin_ws/src/perception && mkdir models && cd models

Step 3: Download model from here https://drive.google.com/file/d/1oWRE2vGRF8ScWP111Tp1CPUFbzeSc5vF/view?usp=sharing to 'models' folder.

Usage

To run any of the scripts, simply rosrun it.

$ rosrun perception script_name.py

Used for Robothon Grand challenge (Our Team RAND-E ranked 3rd World Wide):

Demonstration Video

Also Used for Autonomous Semi-Destructive Disassembly of Laptops:

Demonstration Video

If useful to you, please cite our paper:

@INPROCEEDINGS{9447637,  author={Bassiouny, Abdelrhman M. and Farhan, Abdelrahman S. and Maged, Shady A. and Awaad, Mohammed I.},
booktitle={2021 International Mobile, Intelligent, and Ubiquitous Computing Conference (MIUCC)},
title={Comparison of Different Computer Vision Approaches for E-waste Components Detection to Automate E-waste Disassembly},
year={2021}, pages={17-23},  doi={10.1109/MIUCC52538.2021.9447637}}

Sample Results