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courses:ct50a6200:start [2010/11/08 15:01]
kyrki
courses:ct50a6200:start [2012/11/22 15:24] (current)
tamminen [Background and arrangements]
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 ====== Computer and Robot Vision ====== ====== Computer and Robot Vision ======
  
-===== Practical Assignment ​- Puzzle ​=====+===== Practical Assignment =====
  
 ==== Background and arrangements ==== ==== Background and arrangements ====
  
-The students need to develop a robotic system to solve a puzzle. The assignment will be done in groups of around 6 people. The groups will be chosen by the lecturer of the course. The groups are shown on the Noppa page of the course. If you are not a member in any group, but want to complete the assignment, please contact the lecturer+The students need to develop a robotic system to solve a simple problem (e.g. solve a simple ​puzzle, stack some blocks...). The assignment will be done in groups of around 6 people. The groups will be chosen by the lecturer of the course. The groups are shown on the Noppa page of the course. If you are not a member in any group, but want to complete the assignment, please contact the lecturer ​(make sure you collect SOME points in the 2nd and 3rd exercise to show that you are participating in the course - inactive students ​will be left out from the groups).
- +
-Each group will be given a user account on the robot computer+
  
 === Required steps === === Required steps ===
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   - Each group will prepare an initial plan for the assignment. The plan will outline the setting (for example, which puzzle), the used hardware, and propose an approach.   - Each group will prepare an initial plan for the assignment. The plan will outline the setting (for example, which puzzle), the used hardware, and propose an approach.
     * The plan should include the list of the names of the students who have contributed to the plan.     * The plan should include the list of the names of the students who have contributed to the plan.
-    * Deadline for the plans is the exercise session on Nov 2.+    * Deadline for the plans is the exercise session on Oct 24th 2012.
   - Each plan is commented on by another student group and the lecturer. These comments are meant to raise possible questions already before any implementation work is begun.   - Each plan is commented on by another student group and the lecturer. These comments are meant to raise possible questions already before any implementation work is begun.
   - Each group has the opportunity to visit the lab with the robot to check that their plan is physically viable.   - Each group has the opportunity to visit the lab with the robot to check that their plan is physically viable.
     * Robot motion area as well as camera placement can be checked.     * Robot motion area as well as camera placement can be checked.
     * Test images can also be taken at this point.     * Test images can also be taken at this point.
-    * The visits will take place during the first two weeks of November, during the first week (Nov 1-5) if possible.+    * The visits will take place in October
     * Each group needs to agree on their time slot (1 hour) with Dr Jarmo Ilonen. Please contact Jarmo by email.     * Each group needs to agree on their time slot (1 hour) with Dr Jarmo Ilonen. Please contact Jarmo by email.
   - The student groups will perform the development and implementation work.   - The student groups will perform the development and implementation work.
-    * Access to the lab can be got by agreeing with lab personnel (lecturer or Dr Ilonen). +    * Access to the lab can be got by agreeing with lab personnel (Dr Jarmo Ilonen). 
-  - Each group needs to submit a progress report by December ​15.+  - Each group needs to submit a progress report by December ​20th 2012 (by e-mail).
     * If the group'​s project work is ready, the students can deliver the final report and demonstrate their system instead.     * If the group'​s project work is ready, the students can deliver the final report and demonstrate their system instead.
     * A progress report should briefly describe the work done so far and outline a schedule for the remaining work.     * A progress report should briefly describe the work done so far and outline a schedule for the remaining work.
-  - Final deadline for the project (report and demonstration) is January ​28, 2011.+  - Final deadline for the project (report and demonstration) is <​del>​December 14th 2012</​del>​ moved to January ​due to delays in getting to use the robot
  
 ==== Requirements ==== ==== Requirements ====
  
 To pass the practical assignment, each group has to: To pass the practical assignment, each group has to:
-  * deliver an initial plan +  * deliver an initial plan by deadline given above 
-  * deliver a progress report ​on December 15+  * deliver a progress report ​by deadline given above
   * demonstrate that their system can solve the puzzle as described by the initial plan   * demonstrate that their system can solve the puzzle as described by the initial plan
   * deliver a final report describing the problem and its solution.   * deliver a final report describing the problem and its solution.
     * All methods used in the solution need to be documented. References to literature can be used when applicable (a citation is sufficient for methods that are taken from the literature).     * All methods used in the solution need to be documented. References to literature can be used when applicable (a citation is sufficient for methods that are taken from the literature).
  
-MELFA RV3-SB, a 6 DOF robot arm and the attached PG-70 gripper will be usedLow-level interfaces ​to the robot arm and gripper exist (see below for Available interfaces).+Each group member must contribute to the effortWhen delivering the final report, the contributing group members are asked to sign the final report. By signing the report, group members certify that each member named on the report has a sufficient personal contribution.
  
-Vision needs to be used in order to locate ​the puzzle pieces. There are several camera systems available ​and the students are free to choose which to use. The available cameras are: +MELFA RV3-SB, a 6 DOF robot arm and the attached Robotiq gripper will be used. Low-level interfaces ​to the robot arm and gripper exist (see below for Available interfaces),​ but also a binary for controlling ​the robot will be provided. The inter-process communication ​with the binary is done by reading and writing normal files, so using it from for example Matlab is easy.
-  * Bumblebee 2 stereo camera +
-  * Unibrain Fire-i camera ​with exchangeable optics (several focal lengths available)+
  
-The software ​needs to operate on the robot control computer running Ubuntu 8.04Additional software can be installed on the computer.+Vision ​needs to be used in order to locate ​the puzzle piecesKinect RGB-D camera will be usedIt provides a normal RGB image as well as depth image. A binary for capturing images will be provided. The binary also generates a point cloud and the students can choose which information ​the project will use.
  
-Any programming language or a combination thereof available at the computer can be used.+The software needs to operate on the robot control computer running Ubuntu 10.04. Additional software can be installed on the computer. ​Any programming language or a combination thereof available at the computer can be used, but using Matlab is encouraged.
  
 Matlab toolboxes available at the university as well as any freely available software libraries can be used. All methods used (also those from the libraries) need to be documented, that is, the methods used by the external libraries need to be documented. Matlab toolboxes available at the university as well as any freely available software libraries can be used. All methods used (also those from the libraries) need to be documented, that is, the methods used by the external libraries need to be documented.
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 ==== Available interfaces ==== ==== Available interfaces ====
  
-The following interfaces ​to the hardware are available within a local software library (itlabcpp):​ +Interfaces ​to Kinect and robot/gripper ​will be provided as binariesThe documentation,​ some example Matlab scripts ​and example ​images ​are provided {{:​courses:​ct50a6200:​robotvision_2012.tar.gz|here}}.
-  * SimpleRV3SB C++ interface allows moving the robot arm.  +
-  * PG70 C++ interface allows moving the gripper. +
-  * C++ interfaces FwCamera ​and FwBumblebee allow capturing ​images ​with the cameras.+
  
-==== Software library installation ​====+==== Hardware use ====
  
-  - Download ​the software library package below+Each student group gets a user account on the robot controller computer ct200033.pc.lut.fi. The computer is mainly used as research equipment and thus students need to be extra careful in the use of the equipment
-    * The package includes a preconfigured software library and a project stub+ 
-  ​- Set LD_LIBRARY_PATH as instructed in itlabcpp/​README+Rules and information for using ct200033.pc.lut.fi:​ 
-    * For example, '​export LD_LIBRARY_PATH=/​home/​groupX/​itlabcpp/​lib'. +  * Students are required to exercise care when using the computer. 
-  ​- Change to directory project/src and run 'make' ​to compile ​the example project+  ​* The computer can only be used for developing the practical assignment. No other use is allowed
-    * You can try example program ​'wintest'​ in project/​src/​myproject/​+  ​* The computer can be used locally or remotely (via ssh)
-    * Example program '​fwcam-grab'​ (in the same directory) demonstrates image acquisition.+    * Because of the equipment's research use, students can be asked to log off from the computer for a period, if the use would hinder research use.  
 +  ​* Software using any local hardware (camera, robot, etc.) must only be run locally on the console. Don't try to use hardware using a remote connection. 
 +  * Each student group is responsible for the user account they have received
 +    * The group is responsible for keeping the password safe. 
 +    * Software ​can be installed under group's own account. 
 +  * Robot hardware can only be tested when a member of staff is present. 
 +  * In any problem situation, a staff member needs to be contacted
 +    * Students are not allowed to attempt to solve occurring problems themselves. 
 +  * No changes to the computer environment are allowed without permission from the lecturer. 
 +  * Necessary software can be installed by staff if requested by students.
  
-Documentation is included in the library package in itlabcpp/​doc/​. 
  
 ==== Documentation and Software ==== ==== Documentation and Software ====
  
 If you require some more documentation,​ please contact the lecturer by email. If you require some more documentation,​ please contact the lecturer by email.
- +  ​* {{:​courses:​ct50a6200:​robotvision_2012.tar.gz|Documentation and example images}}
-  ​* {{:​courses:​ct50a6200:​|Software library}}+
   * {{:​courses:​ct50a6200:​rv-3sb_3sjb.pdf|RV-3SB brochure}}   * {{:​courses:​ct50a6200:​rv-3sb_3sjb.pdf|RV-3SB brochure}}
   * {{:​courses:​ct50a6200:​rv-3sb-details.pdf|Detailed robot controller manual}}   * {{:​courses:​ct50a6200:​rv-3sb-details.pdf|Detailed robot controller manual}}
     * See bottom of page 3-17 for information about coordinate system conventions.     * See bottom of page 3-17 for information about coordinate system conventions.
-  * {{:courses:​ct50a6200:​pg_70_en-1.pdf|PG-70 gripper}} +  * [[http://robotiq.com/​en/​products/​adaptive-robot-gripper/|Robotiq 3-finger ​adaptive gripper]]
-  * {{:​courses:​ct50a6200:​gripper_finger.pdf|Gripper ​finger}}+