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
Outline
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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.
Fixed Camera
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• 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
Moving Camera
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TechUnited – RoboCup
Omnidirectional Vision
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• Object detection
(ball, field, lines, goal, robots)
• Positioning (move to target,
avoid an obstructor)
• Localization, world map
(where am I?)
Vision for Humanoid Robots
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• 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
Technical Challenges
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• Stereo vision
• Image synchronization
• Feature matching
• Reconstruction
(2D → 3D)
• Movable head
• Where do I look?
• What do I want
to see?
• Faster is better?
Project Vision for Robotics
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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.
Questions