Vision for Roboticsir. 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.

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• Semi-automated Foosball table

• One side controlled bya robotic system

• Vision:• finds ball• finds puppets• removes all the features

but the ball• @ 100 Hz

Fixed Camera

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TechUnited – RoboCup

Moving Camera

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• Object detection(ball, field, lines, goal, robots)

• Positioning (move to target,avoid an obstructor)

• Localization, world map(where am I?)

Omnidirectional Vision

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• TUlip robot competing at the Teen-size HumanoidLeague 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. Experimentaldemonstrations.

Project Vision for Robotics

Questions