This repository showcases an automatic waste sorting system.
This was developed as part of an international collaborative initiative between the Lancaster University campuses of Leipzig (Germany) and Bailrigg (England).
Custom curated dataset of labeled trash/waste images. These are spread across 6 subfolders (waste types). The dataset can be downloaded here.
Fine-tuned pre-trained ResNet50 architecture. Model weights can be downloaded here.
Confusion matrix of testing set from reduced dataset.
cd waste-sorter
conda env create -f env.yaml
conda activate kuka
- Pair (bluetooth) raspberry pi and set to "trusted" on main device.
- Connect servo motor's signal to pin 11 (GPIO 0)
- some text
- some text
on start:
lock lock
move to detect
once in detect pos, unlock lock
on video frame -> detect done:
if locked, continue
lock lock
get detect position
move robot to detect position @ fixed height
start classify
on classify done:
move to lower height above obj
open gripper
move down
close gripper
move up
move to bin (up)
move down
open gripper
move up
close gripper
move to detect
unlock lock
- Matias Barandiaran (m4mbo)
- Parichay Sachdev (RedHatParichay)
- Mustafa Azizi
- Athar Syed
- Osvaldo Catine
- Mikelis Kamepe
- Inderjot Sitt
- Isaac Richardson