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

2. 2 2 Outline Visual Servo Robot Control Camera Configurations Omnidirectional Vision Experiences 5HC99 2009-10 Assignment 5HC99 2010-11

3. 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. 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

5. 5 TechUnited – RoboCup Moving Camera

6. 6 Object detection (ball, field, lines, goal, robots) Positioning (move to target, avoid an obstructor) Localization, world map (where am I?) Omnidirectional Vision

7. 7 Experiences 5HC99 2009-10

8. 8 8 Blackfin + OpenCV + iArm

9. 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 5HC99 2010-11

10. Questions