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[insert cool codename here]

[insert cool codename here]. Ames Bielenberg David Saltzman. Overview. Accurate localization using external markers Point cloud processing to create 3D map. Odometry error. Data matrix. ABC. Known marker positions. ROS datamatrix Package. EKF using external tags. rel. xform.

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[insert cool codename here]

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  1. [insert cool codename here] Ames Bielenberg David Saltzman

  2. Overview • Accurate localization using external markers • Point cloud processing to create 3D map

  3. Odometry error

  4. Data matrix ABC

  5. Known marker positions

  6. ROS datamatrix Package

  7. EKF using external tags rel. xform robot pose frames kinect datamatrix Map manager EKF Known tag positions

  8. Robot control • Robot controlled manually • A web-interface for driving/navigation browser rosbridge browser JS ROS

  9. Forming point clouds • Kinect gives us points with position and color • We can aggregate these into a point cloud.

  10. Processing point clouds • Transform points to world frame • Cull excess and noisy data • Write data to file • Visualize data in web interface • XB PointStream(WebGL)

  11. Point Cloud Library

  12. references • http://www.ros.org/wiki/datamatrix • http://www.ros.org/wiki/robot_pose_ekf • http://pointclouds.org/documentation/ • http://pointclouds.org/ • http://www.con-sol.us/?page_id=3361 • http://datamatrix.kaywa.com/ • https://kforge.ros.org/turtlebot/viewvc/tutorial_media/odometry/odom_errors.svg • http://asalga.wordpress.com/

  13. ?

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