Embedded Visual Control for Robotics 5HC99 ir. Roel Pieters & dr. Dragan Kostić Section Dynamics and Control Dept. Mechanical Engineering {r.s.pieters,

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Presentation transcript:

Embedded Visual Control for Robotics 5HC99 ir. Roel Pieters & dr. Dragan Kostić Section Dynamics and Control Dept. Mechanical Engineering {r.s.pieters, October 22 nd, 2010

2 2 Outline Visual Servo Robot Control Camera Configurations Omnidirectional Vision Experiences 5HC Assignment 5HC

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, multi-body 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 Experiences 5HC

8 8 Blackfin + OpenCV + iArm

9 9 1.Homography-based Visual Servoing. 2.Application in two case-studies: mobile robot navigation, motion control of a robot arm. 3.Experimental demonstrations. Assignment 5HC

Questions