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Vision for Robotics
ir. Roel Pieters & dr. Dragan KostićSection Dynamics and ControlDept. Mechanical Engineering{r.s.pieters, d.kostic}@tue.nl
January 15th, 2010
22
Outline
• Visual Servo Robot Control• Camera Configurations• Omnidirectional Vision• Vision for Humanoid Robots• Technical Challenges• Project Vision for Robotics
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 computer
hardware & software development,• kinematics, dynamics
and control theory.
4
• Semi-automated
Foosball table• One side controlled by
a robotic system• Vision:• finds ball• finds puppets• removes all the features
but the ball• @ 100 Hz
Fixed Camera
6
• Object detection
(ball, field, lines, goal, robots)• Positioning (move to target,
avoid an obstructor)• Localization, world map
(where am I?)
Omnidirectional Vision
7
• TUlip robot competing at the Teen-size Humanoid
League of the RoboCup humanoid.tue.nl• Movable head
(tracking,
human-like)• Stereo Vision
(depth, human-like)• Detect, position,
localize
Vision for Humanoid Robots
88
• Stereo vision• Image synchronization• Feature matching• Reconstruction
(2D → 3D)
• Movable head• Where do I look?• What do I want
to see?• Faster is better?
Technical Challenges
99
1. Master theory on Visual Servoing.
2. Apply this theory in two case-studies:• coordination of mobile robots,• motion control of a robot arm.
3. Experimental
demonstrations.
Project Vision for Robotics