Vision for Robotics ir. Roel Pieters & dr. Dragan Kostić Section Dynamics and Control Dept. Mechanical Engineering {r.s.pieters, January 15 th, 2010

2 2 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 100 Hz Fixed Camera

5 TechUnited – RoboCup Moving 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 humanoid.tue.nl Movable head (tracking, human-like) Stereo Vision (depth, human-like) Detect, position, localize Vision for Humanoid Robots

8 8 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

9 9 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

Questions