ROBOTICS · COMPUTER VISION
Vision-Based Robotic Servoing
A full perception-to-motion pipeline for the Interbotix ReactorX-150, combining camera calibration, object detection, depth estimation, workspace filtering, inverse kinematics, and physical robot control.
ROS2PythonOAK-DYOLOv5nInverse Kinematics
OVERVIEW
What I built
Using an OAK-D stereo camera and ROS2-based tooling, the project connected real-time perception to coordinate transforms and motion commands for a 5-DOF robotic arm.
ENGINEERING WORK
What the project demonstrates
- Object detection and stereo-depth estimation with OAK-D / DepthAI.
- AprilTag-based camera-to-robot calibration and coordinate transformation.
- Workspace filtering for safer target selection.
- Integration of inverse kinematics with ROS2 and physical RX-150 movement.
- Comparison of simulation and physical-arm behavior.
DOCUMENTATION