Screw and hole detection output results dataset in an autonomous screwing operation

This dataset contains a set of csv files containing the results of a screwing and hole detection developed for a screwing mobile robot. It also contains a set of images representing the inputs, the outputs and some relevant images in the hole detection algorithm.

Thee different scenarios were built, and a total of 25 missions were executed in order to build the datasets presented in appendix 5.7. The first scenario (missions 1 to 15), represents a normal operation procedure, meaning, a screwing 6 hole screwing and 5 screws refilling. The second scenario (missions 16 to 20), represents an operation with an exception handling during the refill (the second, third and fourth screws are missing in the refill support). Lastly, the third scenario (missions 21 to 25) has another exception handling, this time on both hole and screw detections (the third, fourth and fifth holes are already screwed, and the screwdriver trigger is not pressed, so the screw is not tightened resulting in a screw detecting after the refilling phase.

Also three different group of csv files can be found:

• hole_detection_mission_xx.csv¹: contains the hole detection result (detected or non detected) and the located hole coordinates (u,v), in pixels;

• detect_screw_screwing_result_mission_xx.csv: contains the screw detection result performed after a screwing to detect if the screw was screwed successfully. 1 means the screwing was ok (there is no screw on the screwdriver), 0 means the screwing was not ok (there was a screw on the screwdriver);

• detect_screw_refill_mission_xx.csv: contains the screw detection result performed after a refill attempt, to check if there was any screw missing in the refill support. 0 means that no screw was missing on the refill support (there was a screw on the screwdriver), 1 means there was a screw missing on the support (there was no screw on the screwdriver).

The mission_xx suffix represents which mission file (rosbag) the mission was acquired in and, each csv file contains the timestamp in which it happens.

1 xx represents the mission number