3D Laser Scanning and Calibration with Robot Arms

Robotics, Artificial Intelligence and Embedded SystemsFakultät für InformatikTechnische Universität München

M.Sc. Arne PetersTechnische Universität MünchenFakultät für InformatikRobotics, Artificial Intelligence and Embedded SystemsGarching, 20th January 2019

AgendaAbout Me

Objective

Experimental Set-Up

Calibration

Timeline

Requirements

Questions

M.Sc. Arne Peters (TUM) | 3D Laser Scanning and Calibration with Robot Arms | Pre-Course Meeting 2

Robotics, Artificial Intelligence and Embedded Systems,Fakultät für Informatik,Technische Universität München,

Arne Peters

M.Sc. Computational Visualistics (2016)PhD studentWorking on EU HORSE project

M.Sc. Arne Peters (TUM) | 3D Laser Scanning and Calibration with Robot Arms | Pre-Course Meeting 3

Robotics, Artificial Intelligence and Embedded Systems,Fakultät für Informatik,Technische Universität München,

Objective

1. Do 2D laser scan2. Move sensor while

scanning3. Fuse all data to a 3D

pointcloud

M.Sc. Arne Peters (TUM) | 3D Laser Scanning and Calibration with Robot Arms | Pre-Course Meeting 4

Robotics, Artificial Intelligence and Embedded Systems,Fakultät für Informatik,Technische Universität München,

Experimental Set-Up

• KUKA LBR iiwa 14 R820• Zimmer R840 Collaborative Gripper• Hokuyo UTM-30LX• Sick TIM 571

M.Sc. Arne Peters (TUM) | 3D Laser Scanning and Calibration with Robot Arms | Pre-Course Meeting 5

Robotics, Artificial Intelligence and Embedded Systems,Fakultät für Informatik,Technische Universität München,

Calibration

• To fuse the scans we need toknow B→ Kt for every time twe took a measurement

• We don’t know B→ Kt , we canmeasure B→ Et withsub-millimeter precision andwe know that Et → Kt is static

• Thus we can solve the problemby calibrating Et → Kt

W B

Kt

Et

M.Sc. Arne Peters (TUM) | 3D Laser Scanning and Calibration with Robot Arms | Pre-Course Meeting 6

Robotics, Artificial Intelligence and Embedded Systems,Fakultät für Informatik,Technische Universität München,

Timeline• Application− If you are interested, please sent me an email (arne.peters@tum.de) with the following content:

1. Subject: 3D Laser Scanning Labcourse2. Content: short paragraph on motivation and your background (e.g. bachelor’s degree) and other experiences.

− I will come back to you and assign you via the matching tool• Course− Short introduction to ROS and C++ 11 and/or 14− Tutorial on how to use the robot− Implement one calibration procedure on your own− Expected Result: Benchmark of various calibration methods

M.Sc. Arne Peters (TUM) | 3D Laser Scanning and Calibration with Robot Arms | Pre-Course Meeting 7

Robotics, Artificial Intelligence and Embedded Systems,Fakultät für Informatik,Technische Universität München,

Requirements• You should be proficient with C++. Python and Java can be helpful

• Experience with ROS, OpenCV, PCL, Eigen and/or Google Ceres is helpful, but not mandatory

• Linear Algebra

M.Sc. Arne Peters (TUM) | 3D Laser Scanning and Calibration with Robot Arms | Pre-Course Meeting 8

Robotics, Artificial Intelligence and Embedded Systems,Fakultät für Informatik,Technische Universität München,

Thank you for your attention

Questions?

M.Sc. Arne Peters (TUM) | 3D Laser Scanning and Calibration with Robot Arms | Pre-Course Meeting 9

Robotics, Artificial Intelligence and Embedded Systems,Fakultät für Informatik,Technische Universität München,