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Vision for Robotics

Vision for Robotics. ir. Roel Pieters & dr. Dragan Kosti ć Section Dynamics and Control Dept. Mechanical Engineering {r.s.pieters, d.kostic}@tue.nl January 15 th , 2010. Outline. 2. 2. Visual Servo Robot Control Camera Configurations Omnidirectional Vision Vision for Humanoid Robots

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Vision for Robotics

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  1. Vision for Robotics ir. Roel Pieters & dr. Dragan Kostić Section Dynamics and Control Dept. Mechanical Engineering {r.s.pieters, d.kostic}@tue.nl January 15th, 2010

  2. Outline 2 2 • Visual Servo Robot Control • Camera Configurations • Omnidirectional Vision • Vision for Humanoid Robots • Technical Challenges • Project Vision for Robotics

  3. Visual Servo Robot Control • Refers to a closed-loop control of the pose of a robot by utilizing the information extracted from vision sensors. • Integrates different technologies: • image processing & computer vision, • electronics, DSP-based computerhardware & software development, • kinematics, dynamics and control theory.

  4. Fixed Camera 4 • Semi-automated Foosball table • One side controlled bya robotic system • Vision: • finds ball • finds puppets • removes all the features but the ball • @ 100 Hz

  5. Moving Camera 5 TechUnited – RoboCup

  6. Omnidirectional Vision 6 • Object detection(ball, field, lines, goal, robots) • Positioning (move to target,avoid an obstructor) • Localization, world map(where am I?)

  7. Vision for Humanoid Robots 7 • TUlip robot competing at the Teen-size HumanoidLeague of the RoboCup humanoid.tue.nl • Movable head(tracking,human-like) • Stereo Vision(depth, human-like) • Detect, position,localize

  8. Technical Challenges 8 8 • Stereo vision • Image synchronization • Feature matching • Reconstruction (2D → 3D) • Movable head • Where do I look? • What do I wantto see? • Faster is better?

  9. Project Vision for Robotics 9 9 • Master theory on Visual Servoing. • Apply this theory in two case-studies: • coordination of mobile robots, • motion control of a robot arm. • Experimentaldemonstrations.

  10. Questions

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