Exploration Robot with Stereovision Vladislav Richter Miroslav Skrbek FIT, CTU in Prague

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Presentation transcript:

Exploration Robot with Stereovision Vladislav Richter Miroslav Skrbek FIT, CTU in Prague

Vladislav Richter, Miroslav Skrbek PESW Outline Introduction Robot's hardware Control Application Sensor visualization Kinect

Vladislav Richter, Miroslav Skrbek PESW Exploration Robot Android Android phone or tablet Wi-Fi 3D image (anaglyph) Commands forward backward rotate set_wheel_speed say get_eye_image …

Vladislav Richter, Miroslav Skrbek PESW Robot's Hardware Cameras (stereo pair) WiFi antena Roboard RB110 (1GHz PC,Linux) Speaker (speech synthesis) 80 cm distance IR sensor Accelerometer, gyroscope, battery voltage, battery current and temperature sensors inside Audio codec with an amplifier Eye Movement (up/down)

Vladislav Richter, Miroslav Skrbek PESW Remote Control Application Directed for tablets and mobile phones Android based application –Earlier version Android 2.3 –Latest version Android 4.4 Motor control Sensor visualization Sound localization Voice output

Vladislav Richter, Miroslav Skrbek PESW Sensor Visualization Accelerometer Gyroscope Motor speed System temperature Battery –Voltage –Current IR distance sensors Sound source location

Vladislav Richter, Miroslav Skrbek PESW Accelerometer Data Visualizations Accelerometer data The model follows the movement of the robot Terrain

Vladislav Richter, Miroslav Skrbek PESW Sound Source Localization Bar with four microphones (two stereo pairs) Cross correlation I Cross correlation II Localization Δt1 Δt2

Vladislav Richter, Miroslav Skrbek PESW Camera Images 3D View Anaglyph Cameras: 640x480, 30 fps, YUYV

Vladislav Richter, Miroslav Skrbek PESW Nearest object detection Left image Right image OpenCV based stereo correspondence calculation Depth map Nearest objects are white

Vladislav Richter, Miroslav Skrbek PESW Motor Control Virtual Joystick Movement keypad

Vladislav Richter, Miroslav Skrbek PESW Advanced Feature – GUI Adaptation Android get_xml_info XML file Description of sensors and commands available on the robot GUI adaptation

Vladislav Richter, Miroslav Skrbek PESW Kinect on the Robot Wi-Fi Server UDP multi-cast streams - color image - depth map - infrared image - skeleton tracking data - accelerometer - audio UDP stream - motor control - stream control 15 fps

Vladislav Richter, Miroslav Skrbek PESW Kinect - Depth Map Image depth is 12 bits. To view the full range, a color scheme is used. Depth map

Vladislav Richter, Miroslav Skrbek PESW Kinect - Color Image Head-up Display

Vladislav Richter, Miroslav Skrbek PESW Kinect – Infrared Image

Vladislav Richter, Miroslav Skrbek PESW Kinect - Skeleton Data

Vladislav Richter, Miroslav Skrbek PESW Conclusion Four-wheeled robot hardware Stereo camera pair for distance measurement Reach set of sensors Sound source location Voice output Android based control application –3D view by anaglyph –Sensor data visualization –Motor control

Vladislav Richter, Miroslav Skrbek PESW Thank you for your attention