SupRTwin: Sensing, Unterstanding, and Provisioning of Robotic Digital Twins

This repository contains code for the SupRTwin seminar. In this seminar we worked on AGV (Automated Guided Vehicle) Survey. We control a MiR100 to navigate automatically and detect a blue box and capture its position and orientation in a world coordinate frame. For 6D pose estimation, we have used DOPE

Objectives

1. High level control of a MiR100
2. 3D Object Detection and Pose estimation
3. Process and persist obtained information in a digital twin (Kafka Cluster)
4. Visualize the obtained data in a simulation

Architecture

Result

Detected Objects along with their position and orientation.