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courses:ct50a6200:start [2012/08/30 14:55]
tamminen [Background and arrangements]
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 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 ​(in mid-September). 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).+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).
  
 === 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 Oct 10th 2012.+    * 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.
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   - 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 (Dr Jarmo 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 ​5th 2012.+  - 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 December ​20th 2012+  - 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 ====
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 Each group member must contribute to the effort. When 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. Each group member must contribute to the effort. When 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.
  
-MELFA RV3-SB, a 6 DOF robot arm and the attached ​PG-70 gripper will be used. Low-level interfaces to the robot arm and gripper exist (see below for Available interfaces).+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.
  
-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: +Vision needs to be used in order to locate the puzzle pieces. ​Kinect RGB-D camera ​will be used. It 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.
-  * 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 ​8.04. Additional software can be installed on the computer. +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.
- +
-Any programming language or a combination thereof available at the computer can be used.+
  
 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.+
  
 ==== Hardware use ==== ==== Hardware use ====
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   * Necessary software can be installed by staff if requested by students.   * Necessary software can be installed by staff if requested by students.
  
-==== Software library installation ==== 
- 
-  - Download the software library package below. 
-    * The package includes a preconfigured software library and a project stub. 
-  - Set LD_LIBRARY_PATH as instructed in itlabcpp/​README. 
-    * For example, '​export LD_LIBRARY_PATH=/​home/​groupX/​itlabcpp/​lib'​. 
-  - Change to directory project/src and run '​make'​ to compile the example project. 
-    * You can try example program '​wintest'​ in project/​src/​myproject/​. 
-    * Example program '​fwcam-grab'​ (in the same directory) demonstrates image acquisition. 
- 
-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:​itlabcppproject20101108.tar.gz|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}}+