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Exploration Robot with Stereo v ision. Vladislav Richter [email protected] Miroslav Skrbek FIT, CTU in Prague [email protected]. Outline. Introduction Robot's hardware Control Application Sensor visualization Kinect. Exploration R obot. Android phone or tablet. Wi - Fi. Android. - PowerPoint PPT Presentation
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Exploration Robot with Stereovision
Vladislav [email protected] Skrbek FIT, CTU in Prague
Vladislav Richter, Miroslav Skrbek PESW2014 2
Outline
• Introduction
• Robot's hardware
• Control Application
• Sensor visualization
• Kinect
Vladislav Richter, Miroslav Skrbek PESW2014 3
Exploration Robot
Android
Android phone or tablet
Wi-Fi
3D image(anaglyph)
Commandsforwardbackwardrotateset_wheel_speedsayget_eye_image…
Vladislav Richter, Miroslav Skrbek PESW2014 4
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 withan amplifier
EyeMovement(up/down)
Vladislav Richter, Miroslav Skrbek PESW2014 5
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 PESW2014 6
Sensor Visualization
• Accelerometer• Gyroscope• Motor speed• System temperature• Battery
– Voltage– Current
• IR distance sensors• Sound source
location
Vladislav Richter, Miroslav Skrbek PESW2014 7
Accelerometer Data Visualizations
Accelerometer data
The model follows the movement of the robot
Terrain
Vladislav Richter, Miroslav Skrbek PESW2014 8
Sound Source Localization
Bar with four microphones (two stereo pairs)
Cross correlation I
Cross correlation II
Localization
Δt1
Δt2
Vladislav Richter, Miroslav Skrbek PESW2014 9
Camera Images
3D View
Anaglyph
Cameras:
640x480, 30 fps, YUYV
Vladislav Richter, Miroslav Skrbek PESW2014 10
Nearest object detection
Left image
Right image
OpenCV based stereo correspondence
calculation
Depth map
Nearest objects are
white
Vladislav Richter, Miroslav Skrbek PESW2014 11
Motor Control
Virtual Joystick
Movementkeypad
Vladislav Richter, Miroslav Skrbek PESW2014 12
Advanced Feature – GUI Adaptation
Android
get_xml_info
XML file
Description of sensors
and commands
available on the robot
GUI adaptatio
n
Vladislav Richter, Miroslav Skrbek PESW2014 13
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 PESW2014 14
Kinect - Depth Map
Image depth is 12 bits. To view the full range, a color scheme is used.
Depth map
Vladislav Richter, Miroslav Skrbek PESW2014 15
Kinect - Color Image Head-up Display
Vladislav Richter, Miroslav Skrbek PESW2014 16
Kinect – Infrared Image
Vladislav Richter, Miroslav Skrbek PESW2014 17
Kinect - Skeleton Data
Vladislav Richter, Miroslav Skrbek PESW2014 18
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 PESW2014 19
Thank you for your attention