ti:

Robot t hnh trnh v t c n s d ng Kinect

GVHD: PGS.TS Hong nh Chi n SVTH: Nguy n V n c Nguy n H ng c

N I DUNG
1 2 3 4 6 5 7 Gi i thi u t ng quan Kinect l g? g? Pht hi n v t c n Thu t ton PID v tr T a K t qu H ng pht tri n di chuy n robot

Gi i thi u

1. Kh i x l trn my tnh 2. Kh i vi i u khi n 3. Ph n c kh robot

Kinect l g? (1/5)
Gi i thi u chung: chung:     Thi t b ngo i vi cho X-box 360 T ng tc b ng c ch v cu l nh Pht hnh vo 4/11/2010 Gi: Gi: 140 $

Kinect l g? (2/5)
Tnh n ng: ng:  RGB image  Depth Map  Skeleton Tracking  Voice control

Kinect l g? (3/5)
Bn trong Kinect: IR ph i h p Projector cho ra su

Kinect l g? (4/5)
Tnh ton su: su:

Kinect l g? (5/5)
Qu trnh thu v su nh: nh:

Pht hi n v t c n
S x l: l:

OpenNI library
Filtering

Segmentation

Point Cloud Library

Pht hi n v t c n (2/8)
1. Depth Map:  phn gi i 640x480  T c : 30 fps

Pht hi n v t c n (3/8)
2. Point Cloud:  RGB point cloud  T c gi m xu ng cn: 13~15 fps

Pht hi n v t c n (4/8)
3. Voxel Grid:  Gi m m t cc i m

Pht hi n v t c n (5/8)
4. Pass Through:  Gi i h n gi tr cc chi u X, Y, Z  T c t ng ln l i: 30 fps

Pht hi n v t c n (6/8)
5. Plannar segmentation: segmentation:  Tm ra m hnh m t ph ng b ng thu t ton RANSAC

Tm m hnh

ng th ng t m t t p h p i m

Pht hi n v t c n (7/8)
6. Euclidean cluster extraction: extraction:  Nhm cc i m g n nhau thnh 1 cluster

Pht hi n v t c n (8/8)
7. Object clusters: clusters:  Tm kch th c th c v t c n

Thu t ton PID (1/3)

PID l ch vi t t t c a t l - tch phn - vi phn

Thu t ton PID (2/3)

u n ! K p e n  K i e k  K d ( y n  y n  1 )
k !0

Thu t ton PID (3/3)

p ng c a cc h th ng i u khi n

T a

di chuy n c a robot (1/2)

i th ng 1 o n L: Xoay = x_cur L.cos(angle_cur) x _new m t gc anpha:

angle _new = angle_cur + anpha y _new = y_cur L.cos(angle_cur)

T a

di chuy n c a robot (2/2)

Kinect v robot:

ng nh t h tr c t a

K t qu
 Thi t k v thi cng m hnh mobile robot hon ch nh.  Ch ng trnh x l nh khi ph c v cung c p v khng gian pha tr c robot d i d ng 3D.  T c x l nh trn my tnh 13-15 fps, th i gian th c cho robot. y thng tin

p ng yu c u

 Hon thnh k ho ch di chuy n n ch c v t c n v i sai s ch p nh n c mi tr ng trong nh.

K t qu
M ts i m c n kh c ph c: c:

ng pht tri n

 Xy d ng m t m hnh robot d ch v hon ch nh: c kh n ng lm cc cng vi c thay cho con ng i nh : b ng b n, lau nh, h ng d n khch hng,  Xy d ng b n (mapping) d ng 3D v tch h p ln robot s gip ta khm ph v thm hi m nh ng khu v c m con ng i khng th vo c