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Objective of this thesis
The objective of this thesis is the implementation of a fast 3D reconstruction using a feature-based stereo approach. The field of application is reduced to a football field used by the FIRA1.2. Especially for an autonomous football playing robot, it is essential to have its own view of the environment. This information can be used for obstacle detection, object identification, localization in known or unknown environment and interaction. During a game of football, the actors have to face all these tasks, otherwise they would not be able to find the goal, the ball or other players. In addition, to have appropriate information, the computation of the 3D image of the environment has to be very fast. Otherwise, information will become more and more useless because when the computation is finished the image is obsolete.
Beside the implementation of the stereo algorithm, a prototype of a robot head has been developed. The microcontroller (MC) inside the head is responsible for the movement of the stereo-head and some basic control cycles. It is able to send status information to the computer, and the computer can send commands to the MC in return. The circuit diagrams can be found in Section 3.7. The algorithm, or at least parts of it, should ultimately run on a DSP MC which is mounted on the Tinyphoon robot developed at the ICT institute1.3.
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