Kamera szimulációja mobilis robotok navigációjához

Konzulens:
Dr. Kiss Bálint
Kölső konzuelns:
Komlósi István (KUKA Robotics)
External supervisor e-mail:
IstvanKomlosi@kuka-robotics.hu
Tárgy:
Önálló laboratórium 1 - Irányítórendszerek főspecializáció, MSc Vill.
Önálló laboratórium 2 - Irányítórendszerek főspecializáció, MSc Vill.
Önálló laboratórium 1 - Vizuális informatika főspecializáció, MSc Info.
Önálló laboratórium 2 - Vizuális informatika főspecializáció, MSc Info.
Hallgatói létszám:
1
Folytatás:
Szakdolgozat / Diplomaterv
TDK dolgozat
Leírás:

Camera simulation for mobile robot navigation

A selection of KUKA Mobile Robots use cameras for positioning and localization. Therefore a marker layout that is taped to the ground is detected and used for localization of the robot. The goal of this project is to create a simulated version of these cameras so that the system could use their outputs for varios use cases such as:
  • simulation of the realistic behavior of the robot in a virtual machine by providing the hardware input with artificial data (Hardware In the Loop, HIL)
  • evaluation of reaction to misplaced or misread markers
  • running tests in a virtualized environment

Work Packages for students

Camera simulation:
  • Building a service that provides camera input like a real camera based on a layout definition and the position of the robot
  • The data should be provided by the same interface with similar timings as a physical camera would
Further work packages in this project can involve other sensor integrations that are used in the robot, e.g. gyroscope, lidars or drives. 

With this project a student can

  • gain knowledge and deep insight to industrial mobile robot systems
  • gain knowledge in camera systems for robotic applications
  • gain knowledge of mobile robot localization and fine positioning
  • deepen programming knowledge and get acquainted with software technologies used for industrial mobile robot systems