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Robotic Platform for Appearance
Editing
C. D. Tharindu Mathew
Advisor: Prof. Daniel Aliaga
Appearance Editing
● Illuminate an object using digital projectors, so that its
appearance is visually altered
Source: htt...
Setup Details - Robots
Wheeled mobile robots equipped with
● Raspberry Pi with HDMI output and wifi dongle
● Micro Project...
Setup Details - Control Table
● Table with checkerboard pattern
● Overhead camera with infrared filter
Setup Details - Control Program
● Receives input from overhead camera
● Issues commands and pose information to robots
● C...
Contribution
● Robots, Control table - Luis Rodrigo, Control Program -
Prof. Aliaga
● Robot control program existed, writt...
wiringPi
● C Library that allows to control GPIO pins
● Allows to generate software based PWM signals
● High performance i...
Development Environment
● Raspberry Pi runs Raspbian 32-bit
● Eclipse allows to configure different compilers
● Windows Ba...
Initial Attempt
● Wrote a control loop that does the following:
o Rotate towards destination point
o Move at constant spee...
Video - Initial Attempt
https://www.youtube.com/watch?v=iLXbehabnwY
Control Theory
Source: http://en.wikipedia.org/wiki/File:Feedback_loop_with_descriptions.svg
Error and Input w.r.t. the Robotic Platform
● Measured Output - (xc, yc)
● Measured Error - (x, y, ϴ)
● Output - (vl, vr)
Proportional-Integral-Derivative (PID) Controllers
Sources: http://www.oemheaters.com/t-temperature-controller-styles.aspx...
Model Equations
Video - Attempt after integration of PID Controller
https://www.youtube.com/watch?v=iLXbehabnwY
Velocity cut offs
● Maximum velocity operates at 30%
● Minimum velocity is 10%
● Ratio between vl and vr are considered wh...
Tuning the PID Controller
● To accommodate the table size, more rotation is
needed compared to translation
● Use 66x more ...
Video 3 - Tuned PID Controller
https://www.youtube.com/watch?v=RjGPhbkbHsQ
Projector Calibration
● Uses overhead camera to calibrate Projector using
Tsai’s method
● Then, create image to project ba...
Results
● Reliable movement of robot
● Projector error of 3mm
Future Work
● Increasing projector accuracy to sub-millimeter range
● Increase motion precision to millimeter range
Thank You
Questions?
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Robotic Platform for Appearance Editing

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A Robot powered by a Raspberry Pi, is built and used as a dynamic moving projector for Appearance Editing work.

This was developed at the CGVLab at Purdue University for ongoing Appearance Editing research.

Published in: Science, Technology, Business
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Transcript of "Robotic Platform for Appearance Editing"

  1. 1. Robotic Platform for Appearance Editing C. D. Tharindu Mathew Advisor: Prof. Daniel Aliaga
  2. 2. Appearance Editing ● Illuminate an object using digital projectors, so that its appearance is visually altered Source: http://wiki.cs.purdue.edu/cgvlab/doku.php?id=projects:virtual_restoration
  3. 3. Setup Details - Robots Wheeled mobile robots equipped with ● Raspberry Pi with HDMI output and wifi dongle ● Micro Projector ● Infrared LED pattern on top ● Control circuit to drive motors
  4. 4. Setup Details - Control Table ● Table with checkerboard pattern ● Overhead camera with infrared filter
  5. 5. Setup Details - Control Program ● Receives input from overhead camera ● Issues commands and pose information to robots ● Calibration of camera and projector
  6. 6. Contribution ● Robots, Control table - Luis Rodrigo, Control Program - Prof. Aliaga ● Robot control program existed, written in Python ● Re-wrote the robot control program in a more structured manner with reliable execution
  7. 7. wiringPi ● C Library that allows to control GPIO pins ● Allows to generate software based PWM signals ● High performance in benchmarks - Possible to generate 6.9 MHz signal Source: http://codeandlife.com/2012/07/03/benchmarking-raspberry-pi-gpio-speed/
  8. 8. Development Environment ● Raspberry Pi runs Raspbian 32-bit ● Eclipse allows to configure different compilers ● Windows Batch script to deploy into robots
  9. 9. Initial Attempt ● Wrote a control loop that does the following: o Rotate towards destination point o Move at constant speed for 2s o Repeat
  10. 10. Video - Initial Attempt https://www.youtube.com/watch?v=iLXbehabnwY
  11. 11. Control Theory Source: http://en.wikipedia.org/wiki/File:Feedback_loop_with_descriptions.svg
  12. 12. Error and Input w.r.t. the Robotic Platform ● Measured Output - (xc, yc) ● Measured Error - (x, y, ϴ) ● Output - (vl, vr)
  13. 13. Proportional-Integral-Derivative (PID) Controllers Sources: http://www.oemheaters.com/t-temperature-controller-styles.aspx, http://en.wikipedia.org/wiki/PID_controller
  14. 14. Model Equations
  15. 15. Video - Attempt after integration of PID Controller https://www.youtube.com/watch?v=iLXbehabnwY
  16. 16. Velocity cut offs ● Maximum velocity operates at 30% ● Minimum velocity is 10% ● Ratio between vl and vr are considered when one value hits maximum
  17. 17. Tuning the PID Controller ● To accommodate the table size, more rotation is needed compared to translation ● Use 66x more Kp and Ki values for output ϴ (0.3 vs 200)
  18. 18. Video 3 - Tuned PID Controller https://www.youtube.com/watch?v=RjGPhbkbHsQ
  19. 19. Projector Calibration ● Uses overhead camera to calibrate Projector using Tsai’s method ● Then, create image to project based on the image→world coordinates
  20. 20. Results ● Reliable movement of robot ● Projector error of 3mm
  21. 21. Future Work ● Increasing projector accuracy to sub-millimeter range ● Increase motion precision to millimeter range
  22. 22. Thank You Questions?
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