IROS 2012 Handling ROS tutorial Vilamoura, October 7th 2012

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1 IROS 2012 Handling ROS tutorial Vilamoura, October 7th S i l v i a R o d r í g u e z - J i m é n e z C a r l o s I I I U n i v e r s i t y o f M a d r i d V i s u a l P e r c e p t i o n S y s t e m w i t h i n H A N D L E E U p r o j e c t u s i n g R O S

2 Robots need visual 3D perception Picture from Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 2

3 Outline Depth measurement techniques: Kinect ROS/Kinect integration System for robotic visual perception Interfacing with an object SQL database ROS vision nodes within HANDLE EU project Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 3

4 Outline Depth measurement techniques: Kinect ROS/Kinect integration System for robotic visual perception Interfacing with an object SQL database ROS vision nodes within HANDLE EU project Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 4

5 Depth measurement techniques Depth Measurement Techniques Microwaves Light Waves Ultrasonic Waves Triangulation Structured light Timeof-Flight Laser Scan Kinect Picture from the Artist Audrey Penven Asus Xtion PrimeSense Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 5

6 Principles of Kinect 640x fps Operation range: 0.8m~3.5m Depth resolution [1]: Depth image RGB image IR Laser projector λ=830nm IR camera Theoretical random error Depth resolution RGB camera Picture from ifixit Distance to plane [cm] Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 6

7 How Kinect works? Projected Light Pattern [2] 3D Reconstruction Picture from PrimeSense Libraries: OpenNI, libfreenect y Kinect SDK Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 7

8 Outline Depth measurement techniques: Kinect ROS/Kinect integration System for robotic visual perception Interfacing with an object SQL database ROS vision nodes within HANDLE EU project Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 8

9 OpenNI in ROS Picture from [3] Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 9

10 ROS/Kinect integration 2D vision_opencv openni_tracker openni_camera openni_kinect openni_launch image_pipeline 3D perception_pcl Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 10

11 ROS image and OpenCV image OpenNI: RGB format OpenCV: BGR format vertbetweenrosimagesandopencvimages Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 11

12 ROS/Kinect integration Start the Kinect driver: roslaunch openni_launch openni.launch Reconfigure camera parameters: rosrun dynamic_reconfigure reconfigure_gui Visualize the images: rosrun rviz rviz If you have problems with starting rviz, remove files in ~/.rviz/. Add a PointCloud2 View: XYZRGB point cloud For topic camera/depth_registered/points Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 12

13 ROS/Kinect integration Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 13

14 Outline Depth measurement techniques: Kinect ROS/Kinect integration System for robotic visual perception Interfacing with an object SQL database ROS vision nodes within HANDLE EU project Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 15

15 Calibrating a Kinect to your robot TF Hands-on #2 Session Checkerboard detector Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 16

16 ROS Examples [4] [6] [5] [9] [7] [8] Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 17

17 System for robotic visual perception Segmentation, recognition, pose estimation, object tracking ROS stacks: tracking and segmenting visual features object recognition and pose estimation based on detection and tracking nodes. object segmentation, object recognition and collision environment PCL and OpenCV. Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 18

18 Segmentation Table detection using RANSAC Picture from PCL Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 19

19 Object recognition and pose estimation Picture from PCL Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 20

20 Outline Depth measurement techniques: Kinect ROS/Kinect integration System for robotic visual perception Interfacing with an object SQL database ROS vision nodes within HANDLE EU project Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 21

21 Interfacing with a SQL database Installed: A PostgreSQL server. A database: restored from the provided backup file. Iros_st2_database package: functions for interfacing with a specific SQL database. Iros_st2_database_msgs package: ROS API. Updated model_root: Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 22

22 SQL database: schema Starting point: household_objects_database Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 23

23 SQL database: usage Launch the local server: roslaunch iros_st2_database iros_st2_database_server.launch Provided ROS services: iros_st2_hdb/get_list_by_acquisition_method: list of models available in the database by given an acquisition method iros_st2_hdb/delete_model: deletes a model iros_st2_hdb/download_model: gets a 3D mesh iros_st2_hdb/insert_model: stores a model in the database iros_st2_hdb/update_model: updates a stored model Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 24

24 SQL database: ROS Services Get list by acquisition method: rosservice call iros_st2_hdb/get_list_by_acquisition_method <name> Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 25

25 SQL database: ROS Services Download a mesh from the database: rosservice call iros_st2_hdb/download_model <scaled_model_id> Insert a model in the database, copying the files to a location specified by the model_root. rosservice call iros_st2_hdb/insert_model <model_name> <acquisition_method> <maker> <description> <barcode> <geometry_filename> <color_image_filename> E.g.: rosservice call iros_st2_hdb/insert_model camera iros_st2 /iros_st2_database/database/examples/camera.model/mesh.ply /iros_st2_database/database/examples/camera.model/view0000/raw/color. png Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 26

26 SQL database: ROS Services Delete a model from database: rosservice call iros_st2_hdb/delete_model <scaled_model_id> Update a model from database: rosservice call iros_st2_hdb/update_model <original_model_id> <model_name> <acquisition_method> <maker> <description> <barcode> <geometry_filename> <color_image_filename> E.g.: rosservice call iros_st2_hdb/update_model 9623 camera iros_st2 unknown Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 27

27 Outline Depth measurement techniques: Kinect ROS/Kinect integration System for robotic visual perception Interfacing with an object SQL database ROS vision nodes within HANDLE EU project Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 28

28 HANDLE: Kinect/robot calibration Shadow Arm Kinect Camera Shadow Hand ATI Force/Torque Sensors Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 29

29 HANDLE: reconstruction using a single view Color and Depth Image 3D Scene Points Table-top Object Detector Poisson Reconstruction Voxel filling by extrusion Consistency Check Color-based Model Refinement 3D Object Model Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 30

30 HANDLE: reconstruction using a single view Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 31

31 HANDLE: Object recognition and pose Viewpoint Feature Histogram (VFH) descriptor used for matching and recognition of point clouds [10] Recognition and 6D pose estimation for objects lying on a table: Database ICP Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 32

32 Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 33

33 Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 34

34 Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 35

35 HANDLE: Object recognition and pose Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 36

36 References [1] K. Khoshelham and S. O. Elberink. Accuracy and Resolution of Kinect Depth Data for Indoor Mapping Applications. Sensors, 12(2): , [2] [3] [4] [5] %20Extrinsic%20Parameters [6] TurtleBotArm [7] [8] Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 37

37 References [9] _map [10] R. Rusu, G. Bradski, R. Thibaux and J. Hsu. Fast 3d recognition and pose using the viewpoint feature histogram. In Proc. of IROS 2010, pages , Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 38

38 Thank you! Questions/comments? Tutorial ST2 IROS 2012 Hands-on #1 Silvia Rodríguez-Jiménez 39

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