Summer 09 is over.

When did that happen?

 What have I done?
• Tools for annotating data
• Tools to for data access
• Executive to capture data autonomously
• Annotation lifting
• PR2 challenge
Data annotation
 New modes of annotation
• Several new ways to
annotate data
– Multiple fast
bounding boxes
– Zoom-in interface for
detailed polygonal
annotation
– Grouping images to
track people
– Free text labels

http://vm7.willowgarage.com/mt/good_results/bottles-p-2/p1/
 New modes of annotation
• Several new ways to
annotate data
– Multiple fast
bounding boxes
– Zoom-in interface for
detailed polygons
– Grouping images to
track people
– Free text labels

http://vm7.willowgarage.com/mt/good_results/bottles-p-2/p1/
 New modes of annotation
• Several new ways to
annotate data
– Multiple fast
bounding boxes
– Zoom-in interface for
detailed polygonal
annotation
– Grouping images to
track people
– Free text labels
 New modes of annotation
• Several new ways to
annotate data
– Multiple fast
bounding boxes
– Zoom-in interface for
detailed polygonal
annotation
– Grouping images to
track people
– Free text labels
 Grading!
• Just filter out poor
results
Much easier than
annotating yourself
• New task to run grading
on MechTurk
• Random sample of
thumbnails
• Grading by worker
• Track grading conflicts

http://vm7.willowgarage.com/mt/grading/thumbnails_random/prf-jul-08-L2-p/
 Grading!
• Just filter out poor
results
Much easier than
annotating yourself
• New task to run
grading on turk
• Random sample of
thumbnails
• Grading by worker

http://vm7.willowgarage.com/mt/grading/thumbnails_random/prf-jul-08-L2-p/
 Data annotation server
• Django server to manage data
annotation process
• Stable server
• Consistent user interface
• Scalable task architecture
• First 5 users
• ROS integration across 2+ different masters
– Image in (over HTTP post)
– cv_mech_turk/ExternalAnnotation out

http://vm7.willowgarage.com/
 Data access
• Bag server
– Random access into a bag file
– Replay of select messages
• Bag image view
– Browsing images off a bag
– Example client to the bagserver
 Data lifting
• 2D to 3D correspondence
• Annotation of laser clouds with object
labels, image coordinates an image IDs
• Image storage server
• Static map of all annotations
• Whiteboard detector from static object
map
 Camera “calibration”
• Create a virtual camera before
and move it to align with
the laser cloud or robot
model
• Fix major calibration
errors

after

http://pr.willowgarage.com/wiki/camera_offsetter
 Data collection executive
• High level executive based on M2 python
executive
– Move to waypoints
– Position head
– Record data
– Record action state
• Select images when the “record” action was
active and annotate them.
 PR2 challenge
• Integrated ROS components into a complete
behavior.
• Preemptable high level state machine:
– Allows to switch between autonomy and teleop
– Preempts child actions
– External GUI to watch and control the executive
• Great prototype for hardware in the loop test
 PR2 challenge
• Integrated ROS
components into a
complete behavior.
• Preemptable high level
state machine:
– Allows to switch between
autonomy and teleop
– Preempts child actions
– External GUI to watch
and control the executive
• Great prototype for
hardware in the loop
test and learning
Thank you