Vision for Robotics

ir. Roel Pieters & dr. Dragan KostićSection Dynamics and ControlDept. Mechanical Engineering{r.s.pieters, d.kostic}@tue.nl

January 15th, 2010

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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 ball• @ 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• Movable head

(tracking,

human-like)• Stereo Vision

(depth, human-like)• Detect, position,

localize

Vision for Humanoid Robots

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• 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

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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