{"id":165,"date":"2023-12-19T01:00:01","date_gmt":"2023-12-19T01:00:01","guid":{"rendered":"https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/?page_id=165"},"modified":"2023-12-19T01:00:02","modified_gmt":"2023-12-19T01:00:02","slug":"data-collection-setup","status":"publish","type":"page","link":"https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/data-collection-setup\/","title":{"rendered":"Data Collection Setup"},"content":{"rendered":"\n<h1 class=\"wp-block-heading has-text-align-center\" style=\"font-style:normal;font-weight:600\">Camera Setup<\/h1>\n\n\n\n<p>We have built a miniature synchronized multi-camera capture system in our lab for the scope of this project &#8211;  this system can be replicated in a real kitchen later.<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"960\" height=\"720\" src=\"https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/wp-content\/uploads\/sites\/85\/2023\/05\/camera_setup.png\" alt=\"\" class=\"wp-image-44\" srcset=\"https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/wp-content\/uploads\/sites\/85\/2023\/05\/camera_setup.png 960w, https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/wp-content\/uploads\/sites\/85\/2023\/05\/camera_setup-300x225.png 300w, https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/wp-content\/uploads\/sites\/85\/2023\/05\/camera_setup-768x576.png 768w\" sizes=\"auto, (max-width: 767px) 89vw, (max-width: 1000px) 54vw, (max-width: 1071px) 543px, 580px\" \/><\/figure>\n\n\n\n<p>We also developed a digital twin in Mujoco to test our calibration and scene understanding algorithms.<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"713\" height=\"697\" src=\"https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/wp-content\/uploads\/sites\/85\/2023\/12\/camera_setup_mujoco-1.png\" alt=\"\" class=\"wp-image-132\" srcset=\"https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/wp-content\/uploads\/sites\/85\/2023\/12\/camera_setup_mujoco-1.png 713w, https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/wp-content\/uploads\/sites\/85\/2023\/12\/camera_setup_mujoco-1-300x293.png 300w\" sizes=\"auto, (max-width: 713px) 100vw, 713px\" \/><figcaption class=\"wp-element-caption\">Mujoco Setup<\/figcaption><\/figure>\n\n\n\n<h1 class=\"wp-block-heading has-text-align-center\" style=\"font-style:normal;font-weight:600\">Camera Calibration<\/h1>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Intrinsics are calibrated by the factory for Azure Kinect cameras<\/li>\n\n\n\n<li>Extrinsics are estimated by optimizing Procrustes with corresponding points<\/li>\n\n\n\n<li>Anchor points are obtained by AprilTag detectors<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"713\" src=\"https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/wp-content\/uploads\/sites\/85\/2023\/05\/image-1024x713.png\" alt=\"\" class=\"wp-image-49\" srcset=\"https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/wp-content\/uploads\/sites\/85\/2023\/05\/image-1024x713.png 1024w, https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/wp-content\/uploads\/sites\/85\/2023\/05\/image-300x209.png 300w, https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/wp-content\/uploads\/sites\/85\/2023\/05\/image-768x535.png 768w, https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/wp-content\/uploads\/sites\/85\/2023\/05\/image.png 1101w\" sizes=\"auto, (max-width: 767px) 89vw, (max-width: 1000px) 54vw, (max-width: 1071px) 543px, 580px\" \/><figcaption class=\"wp-element-caption\">AprilTag detectors<\/figcaption><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>Camera Setup We have built a miniature synchronized multi-camera capture system in our lab for the scope of this project &#8211; this system can be replicated in a real kitchen later. We also developed a digital twin in Mujoco to test our calibration and scene understanding algorithms. Camera Calibration<\/p>\n","protected":false},"author":169,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-165","page","type-page","status-publish","hentry"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v28.1 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Data Collection Setup - 3D Kitchen Understanding<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/data-collection-setup\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Data Collection Setup - 3D Kitchen Understanding\" \/>\n<meta property=\"og:description\" content=\"Camera Setup We have built a miniature synchronized multi-camera capture system in our lab for the scope of this project &#8211; this system can be replicated in a real kitchen later. 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