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Exploration Robot with Stereo v ision

Exploration Robot with Stereo v ision. Vladislav Richter richterv2@fit.cvut.cz Miroslav Skrbek FIT, CTU in Prague skrbek@fit.cvut.cz. Outline. Introduction Robot's hardware Control Application Sensor visualization Kinect. Exploration R obot. Android phone or tablet. Wi - Fi. Android.

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Exploration Robot with Stereo v ision

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  1. Exploration Robot with Stereovision Vladislav Richterrichterv2@fit.cvut.cz Miroslav Skrbek FIT, CTU in Prague skrbek@fit.cvut.cz

  2. Outline • Introduction • Robot's hardware • Control Application • Sensor visualization • Kinect Vladislav Richter, Miroslav Skrbek PESW2014

  3. Exploration Robot Android phone or tablet Wi-Fi Android 3D image (anaglyph) Commands forward backward rotate set_wheel_speed say get_eye_image … Vladislav Richter, Miroslav Skrbek PESW2014

  4. Robot's Hardware Speaker (speech synthesis) Roboard RB110 (1GHz PC,Linux) Audio codec with an amplifier WiFi antena Cameras (stereo pair) Accelerometer, gyroscope, battery voltage, battery current and temperature sensors inside 80 cm distance IR sensor Eye Movement (up/down) Vladislav Richter, Miroslav Skrbek PESW2014

  5. Remote Control Application • Directed for tablets and mobile phones • Android based application • Earlier version Android 2.3 • Latest version Android 4.4 • Motor control • Sensor visualization • Sound localization • Voice output Vladislav Richter, Miroslav Skrbek PESW2014

  6. Sensor Visualization • Accelerometer • Gyroscope • Motor speed • System temperature • Battery • Voltage • Current • IR distance sensors • Sound source location Vladislav Richter, Miroslav Skrbek PESW2014

  7. Accelerometer Data Visualizations Accelerometer data Terrain The model follows the movement of the robot Vladislav Richter, Miroslav Skrbek PESW2014

  8. Sound Source Localization Δt1 Cross correlation I Localization Cross correlation II Δt2 Bar with four microphones (two stereo pairs) Vladislav Richter, Miroslav Skrbek PESW2014

  9. Camera Images 3D View Cameras: 640x480, 30 fps, YUYV Anaglyph Vladislav Richter, Miroslav Skrbek PESW2014

  10. Nearest object detection OpenCV based stereo correspondence calculation Left image Right image Depth map Nearest objects are white Vladislav Richter, Miroslav Skrbek PESW2014

  11. Motor Control Virtual Joystick Movementkeypad Vladislav Richter, Miroslav Skrbek PESW2014

  12. Advanced Feature – GUI Adaptation Android get_xml_info XML file GUI adaptation Description of sensors and commands available on the robot Vladislav Richter, Miroslav Skrbek PESW2014

  13. Kinect on the Robot UDP multi-cast streams - color image - depth map - infrared image - skeleton tracking data - accelerometer - audio Wi-Fi Server 15 fps UDP stream - motor control - stream control Vladislav Richter, Miroslav Skrbek PESW2014

  14. Kinect - Depth Map Image depth is 12 bits. To view the full range, a color scheme is used. Depth map Vladislav Richter, Miroslav Skrbek PESW2014

  15. Kinect - Color Image Head-up Display Vladislav Richter, Miroslav Skrbek PESW2014

  16. Kinect – Infrared Image Vladislav Richter, Miroslav Skrbek PESW2014

  17. Kinect - Skeleton Data Vladislav Richter, Miroslav Skrbek PESW2014

  18. Conclusion • Four-wheeled robot hardware • Stereo camera pair for distance measurement • Reach set of sensors • Sound source location • Voice output • Android based control application • 3D view by anaglyph • Sensor data visualization • Motor control Vladislav Richter, Miroslav Skrbek PESW2014

  19. Thank you for your attention Vladislav Richter, Miroslav Skrbek PESW2014

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