{"id":81,"date":"2023-05-07T23:12:27","date_gmt":"2023-05-07T23:12:27","guid":{"rendered":"https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/?p=81"},"modified":"2023-12-18T18:52:59","modified_gmt":"2023-12-18T18:52:59","slug":"project-overview","status":"publish","type":"post","link":"https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/2023\/05\/07\/project-overview\/","title":{"rendered":"Project Overview"},"content":{"rendered":"\n<p>This project aims at understanding kitchen in 3D to enable robot learning by watching video demonstrations. <\/p>\n\n\n\n<p>The first part of the project, the data collection part, includes the following components: building a 3D kitchen capture system, reconstruct a real-world kitchen, capture 3D recordings of kitchen tasks, and developing rich 3D annotations. Here is an illustration from the project pitch:<\/p>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/wp-content\/uploads\/sites\/85\/2023\/05\/image-1-1024x457.png\" alt=\"\" class=\"wp-image-89\" width=\"674\" height=\"300\" srcset=\"https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/wp-content\/uploads\/sites\/85\/2023\/05\/image-1-1024x457.png 1024w, https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/wp-content\/uploads\/sites\/85\/2023\/05\/image-1-300x134.png 300w, https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/wp-content\/uploads\/sites\/85\/2023\/05\/image-1-768x342.png 768w, https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/wp-content\/uploads\/sites\/85\/2023\/05\/image-1-1536x685.png 1536w, https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/wp-content\/uploads\/sites\/85\/2023\/05\/image-1.png 1947w\" sizes=\"auto, (max-width: 674px) 100vw, 674px\" \/><\/figure>\n\n\n\n<p>In the spring semester, we have developed a synchronized multi-camera capture system. The extrinsic pose of each camera is estimated by detecting <a href=\"https:\/\/april.eecs.umich.edu\/software\/apriltag\" rel=\"nofollow\">AprilTags<\/a>. Here is our miniature camera setup, which we are going to move to the actual kitchen:<\/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-1.png\" alt=\"\" class=\"wp-image-97\" srcset=\"https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/wp-content\/uploads\/sites\/85\/2023\/05\/camera_setup-1.png 960w, https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/wp-content\/uploads\/sites\/85\/2023\/05\/camera_setup-1-300x225.png 300w, https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/wp-content\/uploads\/sites\/85\/2023\/05\/camera_setup-1-768x576.png 768w\" sizes=\"auto, (max-width: 767px) 89vw, (max-width: 1000px) 54vw, (max-width: 1071px) 543px, 580px\" \/><\/figure>\n\n\n\n<p>We can then capture a 3D video jointly with the cameras from different views:<\/p>\n\n\n\n<figure class=\"wp-block-video\"><video height=\"680\" style=\"aspect-ratio: 1604 \/ 680;\" width=\"1604\" controls src=\"https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/wp-content\/uploads\/sites\/85\/2023\/05\/3d_recording.mp4\"><\/video><\/figure>\n\n\n\n<p>We also use off-the-shelf models including ViTPose for human pose estimation:<\/p>\n\n\n\n<figure class=\"wp-block-video\"><video height=\"400\" style=\"aspect-ratio: 800 \/ 400;\" width=\"800\" controls src=\"https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/wp-content\/uploads\/sites\/85\/2023\/05\/vis_kitchen_2-1.mp4\"><\/video><\/figure>\n\n\n\n<p>In the next semester, we will continue our project by introducing semantic understanding of 3D kitchen scenes and build pipeline of visual imitation learning.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>This project aims at understanding kitchen in 3D to enable robot learning by watching video demonstrations. The first part of the project, the data collection part, includes the following components: building a 3D kitchen capture system, reconstruct a real-world kitchen, capture 3D recordings of kitchen tasks, and developing rich 3D annotations. Here is an illustration &hellip; <\/p>\n<p class=\"link-more\"><a href=\"https:\/\/mscvprojects.ri.cmu.edu\/f23team8\/2023\/05\/07\/project-overview\/\" class=\"more-link\">Continue reading<span class=\"screen-reader-text\"> &#8220;Project Overview&#8221;<\/span><\/a><\/p>\n","protected":false},"author":168,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-81","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.4 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Project Overview - 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\/2023\/05\/07\/project-overview\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Project Overview - 3D Kitchen Understanding\" \/>\n<meta property=\"og:description\" content=\"This project aims at understanding kitchen in 3D to enable robot learning by watching video demonstrations. The first part of the project, the data collection part, includes the following components: building a 3D kitchen capture system, reconstruct a real-world kitchen, capture 3D recordings of kitchen tasks, and developing rich 3D annotations. 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