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Humanoid Sensing and Perception

Humanoid Sensing and Perception research group within IIT.

Welcome to the Humanoid Sensing and Perception Github organization

The Humanoid Sensing and Perception is within Istituto Italiano di Tecnologia.

Our group studies algorithms and technologies that allow robots to sense the environment and react appropriately. Our strategy is to exploit the capability of robots to learn under human guidance or from the interaction with the environment by exploiting multiple sources of information (e.g. proprioception, vision, touch, and audition). We work on visual and tactile perception, for robot navigation and object manipulation. We also develop software tools and study software integration methodologies for the development of complex behaviors.

Our platforms are the iCub and R1 humanoid robots, we focus on applications in the domain of service robotics.

Checkout our IIT's website.

Whenever possible we make code related to our research available to the community with open-source licenses.

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  1. online-detection online-detection Public

    This repository contains the python version of the source code for the experiments carried out for the On-line Object Detection and Instance Segmentation project.

    Python 13 5

  2. roft roft Public

    Real-time Optical Flow-aided 6D Object Pose and Velocity Tracking

    C++ 33 4

  3. fast-ycb fast-ycb Public

    The Fast-YCB Dataset

    Python 11 2

  4. mask-ukf mask-ukf Public

    Instance Segmentation Aided 6D Object Pose and Velocity Tracking using an Unscented Kalman Filter

    C++ 33 9

  5. gazebo-yarp-digit-plugin gazebo-yarp-digit-plugin Public

    A tentative C++ wrapper for the Python based Digit tactile sensor simulation

    C++ 8 2

  6. manip-env-visu manip-env-visu Public

    Barebones library to visualize simple manipulation environments

    CMake

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