AIRWiki - User contributions [en]

MoonSlam

2013-04-23T09:37:05Z

SimoneCeriani: /* PhD Thesis */

{{Project
|title=moonSlam
|coordinator=MatteoMatteucci
|tutor=SimoneCeriani;
|students=VincenzoRizzo;RobertoBacciocchi; AntonioBianchi; MladenMazuran; MatteoLuperto; AngeloZuffiano;
|resarea=Computer Vision and Image Analysis
|start=2010/06/30
|status=Active
}}
== PhD Thesis ==
Simone Ceriani PhD Thesis, download [https://www.box.com/s/pzgt89pzl17mb7zyd52r here] or on [http://hdl.handle.net/10589/74243 POLITesi]

== Goal ==
The aim of the moonSlam project is to create a generic software framework for SLAM (Simultaneous Localization And Mapping).

== Motivation ==

== Download ==

Use the DEI svn system (you need a valid account):

* cd in your workspace directory
* to download all the project: <code>svn co https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/</code>
* to download only the "trunk": <code>svn co https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/trunk/</code>
* to download only a "tag": <code>svn co https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/tags/<tagname>/</code>
** (you can know all the tags by <code>svn ls https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/tags/</code>)

Use --username <username> after the svn command if you neeed to specify your username and password

== SVN principal commands ==
Check this, seems to be a good tutorial: [[http://svnbook.red-bean.com/en/1.4/svn.tour.cycle.html]]
* do <code>svn up</code> or <code>svn update</code> to check the status of repository
* with <code>svn add</code> you can add the unversioned elements (it is recursive)
* with <code>svn stat</code> you can check your svn status
* with <code>svn ci -m"comments"</code> you can checkin your files

===How to says to svn that some folders or files has to be ignored===
This is the common situtation
* you want to avoid the versioning of .settings, build and doc folder (that are shown with a '?' in the svn stat result)
* do <code>svn propedit .</code>
* add in the editor (nano, vim or something similar) the folders or files that you want to ignore (one per line).
* run <code>svn stat</code>, the '?' should disappear, because the elements are ignored.

== Useful readings ==

=== Introduction to SLAM ===
* Wikipedia [http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping]
* IEEE Slam tutorials
** Simultaneous Localization and Mapping: Part I [http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1638022&userType=inst]
** Simultaneous Localization and Mapping: Part II [http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1678144]

* The SSS06 (SLAM Summer School) pages, refer to "lectures" and "Practicals" [http://www.robots.ox.ac.uk/~SSS06/Website/index.html]
* The BMVC 2007 tutorials [http://www.cs.bris.ac.uk/Research/Vision/Realtime/bmvctutorial/]
* Joan Solà have an on line course on SLAM [http://homepages.laas.fr/jsola/JoanSola/eng/course.html here]. It's based on a Matlab toolbox developed by Solà (http://homepages.laas.fr/jsola/JoanSola/eng/toolbox.html)

==== EKF ====
* Probabilistic Robotics [http://robots.stanford.edu/probabilistic-robotics/]

==== Computer Vision ====
* Computer Vision: Algorithms and Applications [http://szeliski.org/Book/]
A freely available book about Computer Vision. Some chapters are dedicated to features recognition.

==== Useful Materials ====
* Joan Solà materials on quaternions [http://homepages.laas.fr/jsola/JoanSola/objectes/notes/kinematics.pdf], EKF mathematics for SLAM [http://homepages.laas.fr/jsola/JoanSola/objectes/notes/FisslamNotes.pdf] and PhD Thesis [http://homepages.laas.fr/jsola/JoanSola/objectes/PhD/Thesis.pdf]

=== Some thesis (Bachelor, MS or PhD) ===
* Visual
** Migliore Davide (PhD) []
** MarzoratiDaniele (PhD) []
** RigamontiRoberto (MS) []
** Joan Solà (Phd) [http://homepages.laas.fr/jsola/JoanSola/objectes/PhD/Thesis.pdf]

* Laser
** [[User:MauroBrenna|Mauro Brenna]] []
** [[User:MladenMazuran|Mladen Mazuran]] & [[User:MatteoLuperto|Matteo Luperto]] (Bachelor) []

* Computer Vision
** MassimoQuadrana (Bachelor) []

* CI-Slam
** Pedro Piniés Rodriguez (Phd) [http://robots.unizar.es/data/documentos/PedroPiniesThesis.pdf]

== How to compile ==
On a "clean" Ubuntu 10.04.2 32bit installation, first of all, you need to install these packages:
* <code>subversion cmake g++ doxygen</code>
Then you have to install all the libraries required
by moonSlam:
* <code>liblog4cpp5-dev libxml++2.6-dev libpng3-dev libboost-all-dev</code>

moonSlam requires packages that are not available in Ubuntu standard repositories:
*libconfig++1.4.6
Download it from [http://www.hyperrealm.com/main.php?s=libconfig here]
and then install it, following the instructions written in INSTALL file.
* Eigen 3.0 library
Download it from [http://eigen.tuxfamily.org/index.php?title=3.0_beta here]
and then install it, following the instructions written in INSTALL file.
* Opencv 2.2
Download it from [http://opencv.willowgarage.com here]
and then install it, following the instruction written [http://opencv.willowgarage.com/wiki/InstallGuide here].

Opencv2.2 needs eigen2 library. Before compiling it, install eigen2 library (<code>apt-get install libeigen2-dev</code>).

You need also mrpt from the svn
svn checkout http://mrpt.googlecode.com/svn/trunk/ mrpt-read-only
cd mrpt-read-only/
mkdir build
cd build/
cmake ..
make
sudo make install
Now you can compile moonSlam.
* open a shell inside trunk folder
* <code>mkdir build cd build </code>
* now you can make one of these folder
** <code>Debug</code>
** <code>Release</code>
** <code>RelWithDebInfo</code>
** <code>MinSizeRel</code>
* cd in the created folder (e.g. <code>cd Debug</code>)
* <code>cmake ../..</code>
* <code>make</code>
If everything goes fine, compiled binaries and libraries will be
written inside trunk/build/<yourChoice> folder (keeping trunk folder "clean").

'''Note:''' performance, executable size and other aspects depends on the choosen build configuration. See the CMakeLists.txt file to know which compilations flags are used.

'''Note(2):''' MoonSlam compile with the libconfig++ proposed in Ubuntu repository, but some configuration files use the @include directive, that is supported by the libconfig++1.4.6.

== Create the documentation ==
go in the base folder (e.g. trunk) and type
<code>doxygen <LibraryName>.doxyfile</code>

you will find documentation in doc/<LibraryName>/html folder

for each library

== Links ==
[http://www.doc.ic.ac.uk/~ajd/ Andrew Davison home page]

[http://homepages.laas.fr/jsola/JoanSola/eng/JoanSola.html Joan Solà home page]

[http://robots.unizar.es/html/home.php Robotics, Perception and Real Time group, Zaragoza]

MoonSlam

2013-02-28T09:41:46Z

SimoneCeriani: /* PhD Thesis */

{{Project
|title=moonSlam
|coordinator=MatteoMatteucci
|tutor=SimoneCeriani;
|students=VincenzoRizzo;RobertoBacciocchi; AntonioBianchi; MladenMazuran; MatteoLuperto; AngeloZuffiano;
|resarea=Computer Vision and Image Analysis
|start=2010/06/30
|status=Active
}}
== PhD Thesis ==
Simone Ceriani PhD Thesis, download [https://www.box.com/s/pzgt89pzl17mb7zyd52r here]

== Goal ==
The aim of the moonSlam project is to create a generic software framework for SLAM (Simultaneous Localization And Mapping).

== Motivation ==

== Download ==

Use the DEI svn system (you need a valid account):

* cd in your workspace directory
* to download all the project: <code>svn co https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/</code>
* to download only the "trunk": <code>svn co https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/trunk/</code>
* to download only a "tag": <code>svn co https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/tags/<tagname>/</code>
** (you can know all the tags by <code>svn ls https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/tags/</code>)

Use --username <username> after the svn command if you neeed to specify your username and password

== SVN principal commands ==
Check this, seems to be a good tutorial: [[http://svnbook.red-bean.com/en/1.4/svn.tour.cycle.html]]
* do <code>svn up</code> or <code>svn update</code> to check the status of repository
* with <code>svn add</code> you can add the unversioned elements (it is recursive)
* with <code>svn stat</code> you can check your svn status
* with <code>svn ci -m"comments"</code> you can checkin your files

===How to says to svn that some folders or files has to be ignored===
This is the common situtation
* you want to avoid the versioning of .settings, build and doc folder (that are shown with a '?' in the svn stat result)
* do <code>svn propedit .</code>
* add in the editor (nano, vim or something similar) the folders or files that you want to ignore (one per line).
* run <code>svn stat</code>, the '?' should disappear, because the elements are ignored.

== Useful readings ==

=== Introduction to SLAM ===
* Wikipedia [http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping]
* IEEE Slam tutorials
** Simultaneous Localization and Mapping: Part I [http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1638022&userType=inst]
** Simultaneous Localization and Mapping: Part II [http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1678144]

* The SSS06 (SLAM Summer School) pages, refer to "lectures" and "Practicals" [http://www.robots.ox.ac.uk/~SSS06/Website/index.html]
* The BMVC 2007 tutorials [http://www.cs.bris.ac.uk/Research/Vision/Realtime/bmvctutorial/]
* Joan Solà have an on line course on SLAM [http://homepages.laas.fr/jsola/JoanSola/eng/course.html here]. It's based on a Matlab toolbox developed by Solà (http://homepages.laas.fr/jsola/JoanSola/eng/toolbox.html)

==== EKF ====
* Probabilistic Robotics [http://robots.stanford.edu/probabilistic-robotics/]

==== Computer Vision ====
* Computer Vision: Algorithms and Applications [http://szeliski.org/Book/]
A freely available book about Computer Vision. Some chapters are dedicated to features recognition.

==== Useful Materials ====
* Joan Solà materials on quaternions [http://homepages.laas.fr/jsola/JoanSola/objectes/notes/kinematics.pdf], EKF mathematics for SLAM [http://homepages.laas.fr/jsola/JoanSola/objectes/notes/FisslamNotes.pdf] and PhD Thesis [http://homepages.laas.fr/jsola/JoanSola/objectes/PhD/Thesis.pdf]

=== Some thesis (Bachelor, MS or PhD) ===
* Visual
** Migliore Davide (PhD) []
** MarzoratiDaniele (PhD) []
** RigamontiRoberto (MS) []
** Joan Solà (Phd) [http://homepages.laas.fr/jsola/JoanSola/objectes/PhD/Thesis.pdf]

* Laser
** [[User:MauroBrenna|Mauro Brenna]] []
** [[User:MladenMazuran|Mladen Mazuran]] & [[User:MatteoLuperto|Matteo Luperto]] (Bachelor) []

* Computer Vision
** MassimoQuadrana (Bachelor) []

* CI-Slam
** Pedro Piniés Rodriguez (Phd) [http://robots.unizar.es/data/documentos/PedroPiniesThesis.pdf]

== How to compile ==
On a "clean" Ubuntu 10.04.2 32bit installation, first of all, you need to install these packages:
* <code>subversion cmake g++ doxygen</code>
Then you have to install all the libraries required
by moonSlam:
* <code>liblog4cpp5-dev libxml++2.6-dev libpng3-dev libboost-all-dev</code>

moonSlam requires packages that are not available in Ubuntu standard repositories:
*libconfig++1.4.6
Download it from [http://www.hyperrealm.com/main.php?s=libconfig here]
and then install it, following the instructions written in INSTALL file.
* Eigen 3.0 library
Download it from [http://eigen.tuxfamily.org/index.php?title=3.0_beta here]
and then install it, following the instructions written in INSTALL file.
* Opencv 2.2
Download it from [http://opencv.willowgarage.com here]
and then install it, following the instruction written [http://opencv.willowgarage.com/wiki/InstallGuide here].

Opencv2.2 needs eigen2 library. Before compiling it, install eigen2 library (<code>apt-get install libeigen2-dev</code>).

You need also mrpt from the svn
svn checkout http://mrpt.googlecode.com/svn/trunk/ mrpt-read-only
cd mrpt-read-only/
mkdir build
cd build/
cmake ..
make
sudo make install
Now you can compile moonSlam.
* open a shell inside trunk folder
* <code>mkdir build cd build </code>
* now you can make one of these folder
** <code>Debug</code>
** <code>Release</code>
** <code>RelWithDebInfo</code>
** <code>MinSizeRel</code>
* cd in the created folder (e.g. <code>cd Debug</code>)
* <code>cmake ../..</code>
* <code>make</code>
If everything goes fine, compiled binaries and libraries will be
written inside trunk/build/<yourChoice> folder (keeping trunk folder "clean").

'''Note:''' performance, executable size and other aspects depends on the choosen build configuration. See the CMakeLists.txt file to know which compilations flags are used.

'''Note(2):''' MoonSlam compile with the libconfig++ proposed in Ubuntu repository, but some configuration files use the @include directive, that is supported by the libconfig++1.4.6.

== Create the documentation ==
go in the base folder (e.g. trunk) and type
<code>doxygen <LibraryName>.doxyfile</code>

you will find documentation in doc/<LibraryName>/html folder

for each library

== Links ==
[http://www.doc.ic.ac.uk/~ajd/ Andrew Davison home page]

[http://homepages.laas.fr/jsola/JoanSola/eng/JoanSola.html Joan Solà home page]

[http://robots.unizar.es/html/home.php Robotics, Perception and Real Time group, Zaragoza]

MoonSlam

2013-02-28T09:34:00Z

SimoneCeriani: /* Goal */

{{Project
|title=moonSlam
|coordinator=MatteoMatteucci
|tutor=SimoneCeriani;
|students=VincenzoRizzo;RobertoBacciocchi; AntonioBianchi; MladenMazuran; MatteoLuperto; AngeloZuffiano;
|resarea=Computer Vision and Image Analysis
|start=2010/06/30
|status=Active
}}
== PhD Thesis ==
Simone Ceriani PhD Thesis, download here

== Goal ==
The aim of the moonSlam project is to create a generic software framework for SLAM (Simultaneous Localization And Mapping).

== Motivation ==

== Download ==

Use the DEI svn system (you need a valid account):

* cd in your workspace directory
* to download all the project: <code>svn co https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/</code>
* to download only the "trunk": <code>svn co https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/trunk/</code>
* to download only a "tag": <code>svn co https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/tags/<tagname>/</code>
** (you can know all the tags by <code>svn ls https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/tags/</code>)

Use --username <username> after the svn command if you neeed to specify your username and password

== SVN principal commands ==
Check this, seems to be a good tutorial: [[http://svnbook.red-bean.com/en/1.4/svn.tour.cycle.html]]
* do <code>svn up</code> or <code>svn update</code> to check the status of repository
* with <code>svn add</code> you can add the unversioned elements (it is recursive)
* with <code>svn stat</code> you can check your svn status
* with <code>svn ci -m"comments"</code> you can checkin your files

===How to says to svn that some folders or files has to be ignored===
This is the common situtation
* you want to avoid the versioning of .settings, build and doc folder (that are shown with a '?' in the svn stat result)
* do <code>svn propedit .</code>
* add in the editor (nano, vim or something similar) the folders or files that you want to ignore (one per line).
* run <code>svn stat</code>, the '?' should disappear, because the elements are ignored.

== Useful readings ==

=== Introduction to SLAM ===
* Wikipedia [http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping]
* IEEE Slam tutorials
** Simultaneous Localization and Mapping: Part I [http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1638022&userType=inst]
** Simultaneous Localization and Mapping: Part II [http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1678144]

* The SSS06 (SLAM Summer School) pages, refer to "lectures" and "Practicals" [http://www.robots.ox.ac.uk/~SSS06/Website/index.html]
* The BMVC 2007 tutorials [http://www.cs.bris.ac.uk/Research/Vision/Realtime/bmvctutorial/]
* Joan Solà have an on line course on SLAM [http://homepages.laas.fr/jsola/JoanSola/eng/course.html here]. It's based on a Matlab toolbox developed by Solà (http://homepages.laas.fr/jsola/JoanSola/eng/toolbox.html)

==== EKF ====
* Probabilistic Robotics [http://robots.stanford.edu/probabilistic-robotics/]

==== Computer Vision ====
* Computer Vision: Algorithms and Applications [http://szeliski.org/Book/]
A freely available book about Computer Vision. Some chapters are dedicated to features recognition.

==== Useful Materials ====
* Joan Solà materials on quaternions [http://homepages.laas.fr/jsola/JoanSola/objectes/notes/kinematics.pdf], EKF mathematics for SLAM [http://homepages.laas.fr/jsola/JoanSola/objectes/notes/FisslamNotes.pdf] and PhD Thesis [http://homepages.laas.fr/jsola/JoanSola/objectes/PhD/Thesis.pdf]

=== Some thesis (Bachelor, MS or PhD) ===
* Visual
** Migliore Davide (PhD) []
** MarzoratiDaniele (PhD) []
** RigamontiRoberto (MS) []
** Joan Solà (Phd) [http://homepages.laas.fr/jsola/JoanSola/objectes/PhD/Thesis.pdf]

* Laser
** [[User:MauroBrenna|Mauro Brenna]] []
** [[User:MladenMazuran|Mladen Mazuran]] & [[User:MatteoLuperto|Matteo Luperto]] (Bachelor) []

* Computer Vision
** MassimoQuadrana (Bachelor) []

* CI-Slam
** Pedro Piniés Rodriguez (Phd) [http://robots.unizar.es/data/documentos/PedroPiniesThesis.pdf]

== How to compile ==
On a "clean" Ubuntu 10.04.2 32bit installation, first of all, you need to install these packages:
* <code>subversion cmake g++ doxygen</code>
Then you have to install all the libraries required
by moonSlam:
* <code>liblog4cpp5-dev libxml++2.6-dev libpng3-dev libboost-all-dev</code>

moonSlam requires packages that are not available in Ubuntu standard repositories:
*libconfig++1.4.6
Download it from [http://www.hyperrealm.com/main.php?s=libconfig here]
and then install it, following the instructions written in INSTALL file.
* Eigen 3.0 library
Download it from [http://eigen.tuxfamily.org/index.php?title=3.0_beta here]
and then install it, following the instructions written in INSTALL file.
* Opencv 2.2
Download it from [http://opencv.willowgarage.com here]
and then install it, following the instruction written [http://opencv.willowgarage.com/wiki/InstallGuide here].

Opencv2.2 needs eigen2 library. Before compiling it, install eigen2 library (<code>apt-get install libeigen2-dev</code>).

You need also mrpt from the svn
svn checkout http://mrpt.googlecode.com/svn/trunk/ mrpt-read-only
cd mrpt-read-only/
mkdir build
cd build/
cmake ..
make
sudo make install
Now you can compile moonSlam.
* open a shell inside trunk folder
* <code>mkdir build cd build </code>
* now you can make one of these folder
** <code>Debug</code>
** <code>Release</code>
** <code>RelWithDebInfo</code>
** <code>MinSizeRel</code>
* cd in the created folder (e.g. <code>cd Debug</code>)
* <code>cmake ../..</code>
* <code>make</code>
If everything goes fine, compiled binaries and libraries will be
written inside trunk/build/<yourChoice> folder (keeping trunk folder "clean").

'''Note:''' performance, executable size and other aspects depends on the choosen build configuration. See the CMakeLists.txt file to know which compilations flags are used.

'''Note(2):''' MoonSlam compile with the libconfig++ proposed in Ubuntu repository, but some configuration files use the @include directive, that is supported by the libconfig++1.4.6.

== Create the documentation ==
go in the base folder (e.g. trunk) and type
<code>doxygen <LibraryName>.doxyfile</code>

you will find documentation in doc/<LibraryName>/html folder

for each library

== Links ==
[http://www.doc.ic.ac.uk/~ajd/ Andrew Davison home page]

[http://homepages.laas.fr/jsola/JoanSola/eng/JoanSola.html Joan Solà home page]

[http://robots.unizar.es/html/home.php Robotics, Perception and Real Time group, Zaragoza]

Talk:LURCH - The autonomous wheelchair

2012-10-30T14:40:17Z

SimoneCeriani: /* Software Installation [TODO: complete] */

=D-Link router=
ip: 192.168.0.1 
User: admin 
Pass: pcbriccone 
(NOTE. Default settings are: admin, no password)

mac-address clonato all'interfaccia esterna: 00-40-63-eb-d1-a1 (pcbrick-03) 

==Wireless==
SSID: airlab 
channel: 6 
WPA2 PSK: pcbriccone 

==Fixed IPs==
pcbrick-one 192.168.0.5 00-40-63-eb-d2-a2 
pcbrick-03 192.168.0.3 00-40-63-eb-d1-a1 
simone-desktop 192.168.0.1 00-02-72-52-04-a1 
pcbrick-one 192.168.0.5 00-30-18-a2-aa-8e 
simone-laptop 192.168.0.2 00-1f-3c-9c-66-f1 

=Planner=
MSL library soruce + PQP source: [[Media:MSL.zip]]
compiled on Ubuntu 8.10 with gcc 4.3.2

=Software Installation [TODO: complete]=
This guide is tested on Ubuntu 8.10, 9.04 and Xubuntu 8.10. GCC version in 4.3.

* Install the following packages:
** qt3-dev-tools
** qt4-dev-tools
** build-essential
** flex
** bison
** libjsw-dev
** libboost-dev
** libdc1394-13-dev
** libgsl0-dev
** libgtk2.0-dev
** libncurses5-dev

If you want you can cut and paste this command line:
sudo apt-get install ...

* Download this file: [TODO], which contains ARToolKitPlus Libraries

** unpack it in /opt folder
** go into /opt/ARToolKitPlus_2.1.1
** export ARTKP=/opt/ARToolKitPlus_2.1.1
** qmake
** make
** sudo make install

* download lurch-control.tar.gz
** extract it in your home folder
** make cleanall
** make ROBOT=wheelchair MODULE=misc
** make ROBOT=wheelchair MODULE=fuzzy
** make ROBOT=wheelchair
** cd wheelchair
** ln -s ../logExtract.sh ./
** ln -s ../run.sh ./

* download lurch-wheelchair-standalone.tar.gz
** extract it in your home folder
** go into lurch-wheelchair-standalone/config
** edit config.ini
*** replace line with hostname=airlab-blackbox with hostname=<yourhostname>
** edit agent.ini
*** find and replace all "airlab-blackbox" with <yourhostname>

* download the server for simulation (you need sun-java6-jdk installed and Eclipse is suggested)
...

* from lurch-wheelchair-standalone
** sudo ./run.sh

= Timeline =
Breve riassunto dello stato attuale di Lurch, e delle ultime modifiche:

2012/07/10:
- corretto un errore in una shape fuzzy (qualità della speed) e allo stesso tempo aumentato la soglia entro la quale la quality speed è definita "good" e "very good", allontanando la "medium" e "bad"
- cambiato una soglia sulla distanza minima letta dai sonar: i sonar hanno come valore nominale minimo 142mm, però due di essi (quelli a sinistra) con il sole (vai a capire perchè ma la causa sembra quella) leggono sempre 142... abbiamo impostato nel "sonarExpert" di scartare valori inferiori (o <=, non sono sicuro) a 0.143 metri.... barbatrucco un po' rischioso, ma efficace
- cambiata la soglia di raggiungimento via point e passaggio al successivo da 0.4m a 0.5m, per rendere più fluido il movimento

la storia precedente...
lo sviluppo sw di lurch è fermo a settembre 2009 [demo e prove a Simpatia - agosto/settembre 2009] con pochissime revisioni per Robotica 2009 a novembre
dal punto di vista hw nel 2010 è stato fatto da Giulio e Davide quello che chiamiamo "restyling", in quanto non è cambiato nulla dal punto di vista funzionale (stessi sensori, stesso hw per tutto, solo posizionato diversamente) a valle del quale il sw è stato riadattato, ma le modifiche sw sono state proprio poche, soprattutto sono state configurazione delle nuove posizioni dei sensori. Le cose che vedo più sostanziali relative a ciò sono state:
- passagggio da due pcbrick (di cui uno con cpu via - i pc brick originali - e uno con dual core - il cosidetto pcbriccone - su cui erano distribuiti gli agenti running) ad un solo (il pcbriccone). Da quel momento non sono più stati aggiornati i driver del touch screen (che tuttora non è funzionante) e il sw gira tutto su un pc solo, mentre prima era distribuito
- è stata sostituita la camera firewire (fire i 400) con una ethernet (prosilica) e di conseguenza aggiunto un pezzo sw per leggere dalle api prosilica e non da firewire

=Available Documentation=

- Documentation on the interface circuit between the wheelchair joystick and computer: [[Media:LurchCircuitDocument.pdf]].

- '''WARNING''': the circuit was modified and the documentation above is upgraded by this new file: [[Media:LurchXBee.pdf]].

- How to modify the wheelchair joystick to connect to the interface circuit: [[Media:LurchCircuitJoystick.pdf]].

- Brief discussion about the interface circuit between the wheelchair joystick and computer: [[Media:LurchCircuitJoystickBrief.pdf]].

- Brief description of the LURCH project: [[Media:LurchBriefDesc.pdf]].

- Brief description of the communication between the wheelchair interface circuit and a PC via RS232 port: [[Media:LurchProtocol.pdf]].

- Source code for PIC 18F452 microprocessor and Eagle project (schematic and board): [[Media:LurchCircuitProject.zip]].

- Battery replacement done on May 2009, description of work: [[Media:LurchBatteryReplacement.pdf]].

- Thesis by Simone Ceriani, titled ''Sviluppo di una carrozzina autonoma d'ausilio ai disabili motori'' (Development of an autonomous wheelchair to help motor-disabled persons): [[Media:LurchThesisCeriani.pdf]] (in Italian)

- Thesis presentation by Simone Ceriani (note: Videos don't work, you can found similar videos below): [[Media:LurchPresentazioneThesisCeriani.zip]]

- Thesis by Marco Dalli, titled ''Sviluppo di un sistema di controllo basato su odometria per una carrozzina robotica'' (Development of a control system based on odometry for a robotic wheelchair): [[Media:LurchThesisDalli.pdf]] (in Italian)

- Thesis presentation by Marco Dalli: [[Media:LurchPresentazioneThesisDalli.zip]]

- Thesis by Marco Assini, titled ''Sviluppo di un pianificatore di percorsi geometrici per una carrozzina autonoma'' (Development of a geometric path planner for an autonomous wheelchair): [[Media:LurchThesisAssini.pdf]] (in Italian)

- Thesis presentation by Marco Assini (the file contains a ppt version, a pptx, and a simplified pdf version without animation): [[Media:LurchPresentazioneThesisAssini.zip]]

- Thesis by Mauro Brenna, titled ''Scan Matching, Covariance Estimation and SLAM: Models and Solution for the scanSLAM Algorithm'': [[Media:MauroBrennaMastersThesis2010.pdf‎]] (in English)

- Pdf with ArtoolKitPlus Fiducial Markers collection. Dimension are 160x160mm. [[Media:ArtoolKitPlusMarkers-160mm.pdf.zip]]

=PCBricks Configuration=
PCBrick-03 and PCBrick-05 feature Xubuntu Linux 7.10, Xfce Window Manager, Openchrome graphics drivers and eGalax touchscreen drivers v1.08.1227 (Drivers [http://210.64.17.162/web20/TouchKitDriver/linuxDriver.htm here]).
The touchscreen is configured and calibrated on both machines, hence it can be used with either one or the other indifferently.

=Electronics development=
We are currently designing a new electronic main board for the wheelchair.

The idea is to base the whole system on a CANbus, allowing a complete modularization of the on-board electronics.

[[Lurch_electronics_development|Read more on this topics here...]]

=Software development=
* Try a different sw architecture, now we are examinating orocos [http://www.orocos.org]
* Integrate Marco Assini's thesis (RRT planning) with current release
* Develop an improved navigation system [[Navigation_system_for_LURCH|Read more on this topics here...]]

=People Involved=

[[User:AndreaBonarini|Andrea Bonarini]]

[[User:MatteoMatteucci|Matteo Matteucci]]

[[User:DavideMigliore|Davide Migliore]]

[[User:GiulioFontana|Giulio Fontana]]

[[User:BernardoDalSeno|Bernardo Dal Seno]]

[[User:MarcoDalli|Marco Dalli]] (ex-Tesista)

[[User:SimoneCeriani|Simone Ceriani]] (Dottorando)

[[User:MatteoRossi|Matteo Rossi]] (ex- Tesista)

[[User:MarcoAssini|Marco Assini]] (ex-Tesista)

[[User:MauroBrenna|Mauro Brenna]] (Tesista)

[[User:DiegoConsolaro|Diego Consolaro]] (ex-Tesista)

File:Robotics-ceriani-ese-06-handout.pdf.zip

2012-06-20T16:06:27Z

SimoneCeriani:

File:Robotics-matlab-06.zip

2012-06-20T16:04:59Z

SimoneCeriani:

Robotics Teaching Assistant lectures (Como)

2012-06-20T16:01:54Z

SimoneCeriani: /* 6th lecture */

Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)

The latex sources and Matlab code are also available on the svn

<code>svn co https://svn.ws.dei.polimi.it/airlab/Courses/Robotics_como</code>

==1st lecture==
* Homogeneous coordinates for points in 2D and 3D
* Rotation and translation in 2D and 3D homogeneous coordinate
* Transformation inversion and composition.
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points
* The line at the infinity (2D)
* Brief introduction to conics
* 2D projective transformation introduction

Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]

==2nd lecture==
* Projective 2D transformations (Homographies) of points, lines and conics
* Homography estimation and image rectification
* Hierarchy of transformations (isometries, similarities, affine, homographies)
* Vanishing points
* Parametric lines and Cross Ratio (with exercize)
* Affine reconstruction
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines
* Brief recall to art and usage of vanishing points
* Some videos and images examples
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field
* Pin hole model, Intrinsic camera matrix
* Extra exercises with cross ratio

Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]

Download all videos from here [ftp://ftp.dei.polimi.it/users/Simone.Ceriani/Robotics/2011-2012/videos/] and place them in a folder named "videos" in the same folder of the slide file

Video are played in the pdf file in Windows using Acrobat Reader, in Linux using Okular

Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]

Matlab code [[File:Robotics-matlab-02.zip]]

==3th lecture==
* Pin hole model recall
* Projection Matrix
* Interpretation line
* Image of origin and vanishing points
* Angle of view
* Radial and tangential distortion model
* Camera calibration (Matlab Camera Calibration Toolbox [http://vision.caltech.edu/bouguetj/calib_doc/])
* Epipolar geometry
* Fundamental matrix
* Features in image
* Thresholding, Filtering, Smoothing, Gradient
* Canny edge detector
* Hough transformation for lines extraction
* Corners
* Template matching: patches and SIFT
* Final Exercize on Camera Geometry

Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]

Matlab code [[File:Robotics-matlab-03.zip]]

==4th lecture==
* Mobile robot localization
* Taxonomy of localization problems
* Probability recall
* Bayes formula and bayes filter
* Markov Localization

Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]

Matlab code [[File:Robotics-matlab-04.zip]]

==5th lecture==
* Kalman Filter
* Kalman Filter example: falling body
* Extended Kalman filter
* Extended Kalman filter localization
* Correspondances, data association and Mahalanobis distance
* Qualitative introduction to Monte Carlo Localization and Particle filters

Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]

Matlab code [[File:Robotics-matlab-05.zip]]

==6th lecture==
* Introduction to SLAM
* EKF-SLAM: motion model, addition, measurement
* Data associaton: Examples with JCBB
* Visual SLAM & Monocular SLAM
* Large scale SLAM issues
* Some videos...
* SLAM with OmniDirectionalCamera
* PTAM, Laser based SLAM

Slides with animations [[File:Robotics-ceriani-ese-06-anim.pdf.zip]]

Download all videos from here [ftp://ftp.dei.polimi.it/users/Simone.Ceriani/Robotics/2011-2012/videos/] and place them in a folder named "videos" in the same folder of the slide file

Video are played in the pdf file in Windows using Acrobat Reader, in Linux using Okular

Handout [[File:Robotics-ceriani-ese-06-handout.pdf.zip]]

Matlab code [[File:Robotics-matlab-06.zip]] (this material is from [http://www.robots.ox.ac.uk/~SSS06/Website/index.html])

File:Robotics-ceriani-ese-06-anim.pdf.zip

2012-06-20T16:01:21Z

SimoneCeriani:

Robotics Teaching Assistant lectures (Como)

2012-06-20T15:55:59Z

SimoneCeriani: /* 2nd lecture */

Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)

The latex sources and Matlab code are also available on the svn

<code>svn co https://svn.ws.dei.polimi.it/airlab/Courses/Robotics_como</code>

==1st lecture==
* Homogeneous coordinates for points in 2D and 3D
* Rotation and translation in 2D and 3D homogeneous coordinate
* Transformation inversion and composition.
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points
* The line at the infinity (2D)
* Brief introduction to conics
* 2D projective transformation introduction

Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]

==2nd lecture==
* Projective 2D transformations (Homographies) of points, lines and conics
* Homography estimation and image rectification
* Hierarchy of transformations (isometries, similarities, affine, homographies)
* Vanishing points
* Parametric lines and Cross Ratio (with exercize)
* Affine reconstruction
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines
* Brief recall to art and usage of vanishing points
* Some videos and images examples
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field
* Pin hole model, Intrinsic camera matrix
* Extra exercises with cross ratio

Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]

Download all videos from here [ftp://ftp.dei.polimi.it/users/Simone.Ceriani/Robotics/2011-2012/videos/] and place them in a folder named "videos" in the same folder of the slide file

Video are played in the pdf file in Windows using Acrobat Reader, in Linux using Okular

Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]

Matlab code [[File:Robotics-matlab-02.zip]]

==3th lecture==
* Pin hole model recall
* Projection Matrix
* Interpretation line
* Image of origin and vanishing points
* Angle of view
* Radial and tangential distortion model
* Camera calibration (Matlab Camera Calibration Toolbox [http://vision.caltech.edu/bouguetj/calib_doc/])
* Epipolar geometry
* Fundamental matrix
* Features in image
* Thresholding, Filtering, Smoothing, Gradient
* Canny edge detector
* Hough transformation for lines extraction
* Corners
* Template matching: patches and SIFT
* Final Exercize on Camera Geometry

Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]

Matlab code [[File:Robotics-matlab-03.zip]]

==4th lecture==
* Mobile robot localization
* Taxonomy of localization problems
* Probability recall
* Bayes formula and bayes filter
* Markov Localization

Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]

Matlab code [[File:Robotics-matlab-04.zip]]

==5th lecture==
* Kalman Filter
* Kalman Filter example: falling body
* Extended Kalman filter
* Extended Kalman filter localization
* Correspondances, data association and Mahalanobis distance
* Qualitative introduction to Monte Carlo Localization and Particle filters

Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]

Matlab code [[File:Robotics-matlab-05.zip]]

==6th lecture==
* Introduction to SLAM
* EKF-SLAM: motion model, addition, measurement
* Data associaton: Examples with JCBB
* Visual SLAM & Monocular SLAM
* Large scale SLAM issues
* Some videos...
* SLAM with OmniDirectionalCamera
* PTAM, Laser based SLAM

Slides with animations [[File:Robotics-ceriani-ese-06-anim.pdf]]

Download all videos from here [ftp://ftp.dei.polimi.it/users/Simone.Ceriani/Robotics/2011-2012/videos/] and place them in a folder named "videos" in the same folder of the slide file

Video are played in the pdf file in Windows using Acrobat Reader, in Linux using Okular

Handout [[File:Robotics-ceriani-ese-06-handout.pdf]]

Matlab code [[File:Robotics-matlab-06.zip]] (this material is from [http://www.robots.ox.ac.uk/~SSS06/Website/index.html])

Robotics Teaching Assistant lectures (Como)

2012-06-20T15:55:47Z

SimoneCeriani: /* 6th lecture */

Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)

The latex sources and Matlab code are also available on the svn

<code>svn co https://svn.ws.dei.polimi.it/airlab/Courses/Robotics_como</code>

==1st lecture==
* Homogeneous coordinates for points in 2D and 3D
* Rotation and translation in 2D and 3D homogeneous coordinate
* Transformation inversion and composition.
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points
* The line at the infinity (2D)
* Brief introduction to conics
* 2D projective transformation introduction

Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]

==2nd lecture==
* Projective 2D transformations (Homographies) of points, lines and conics
* Homography estimation and image rectification
* Hierarchy of transformations (isometries, similarities, affine, homographies)
* Vanishing points
* Parametric lines and Cross Ratio (with exercize)
* Affine reconstruction
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines
* Brief recall to art and usage of vanishing points
* Some videos and images examples
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field
* Pin hole model, Intrinsic camera matrix
* Extra exercises with cross ratio

Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]
Videos:
* [[File:Flagellazione_camera.mpg.zip‎]]
* [[File:Hutme_camera.mpg.zip‎]]
* [[File:Trinity.sb.mpg.zip‎]]
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular

Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]

Matlab code [[File:Robotics-matlab-02.zip]]

==3th lecture==
* Pin hole model recall
* Projection Matrix
* Interpretation line
* Image of origin and vanishing points
* Angle of view
* Radial and tangential distortion model
* Camera calibration (Matlab Camera Calibration Toolbox [http://vision.caltech.edu/bouguetj/calib_doc/])
* Epipolar geometry
* Fundamental matrix
* Features in image
* Thresholding, Filtering, Smoothing, Gradient
* Canny edge detector
* Hough transformation for lines extraction
* Corners
* Template matching: patches and SIFT
* Final Exercize on Camera Geometry

Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]

Matlab code [[File:Robotics-matlab-03.zip]]

==4th lecture==
* Mobile robot localization
* Taxonomy of localization problems
* Probability recall
* Bayes formula and bayes filter
* Markov Localization

Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]

Matlab code [[File:Robotics-matlab-04.zip]]

==5th lecture==
* Kalman Filter
* Kalman Filter example: falling body
* Extended Kalman filter
* Extended Kalman filter localization
* Correspondances, data association and Mahalanobis distance
* Qualitative introduction to Monte Carlo Localization and Particle filters

Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]

Matlab code [[File:Robotics-matlab-05.zip]]

==6th lecture==
* Introduction to SLAM
* EKF-SLAM: motion model, addition, measurement
* Data associaton: Examples with JCBB
* Visual SLAM & Monocular SLAM
* Large scale SLAM issues
* Some videos...
* SLAM with OmniDirectionalCamera
* PTAM, Laser based SLAM

Slides with animations [[File:Robotics-ceriani-ese-06-anim.pdf]]

Download all videos from here [ftp://ftp.dei.polimi.it/users/Simone.Ceriani/Robotics/2011-2012/videos/] and place them in a folder named "videos" in the same folder of the slide file

Video are played in the pdf file in Windows using Acrobat Reader, in Linux using Okular

Handout [[File:Robotics-ceriani-ese-06-handout.pdf]]

Matlab code [[File:Robotics-matlab-06.zip]] (this material is from [http://www.robots.ox.ac.uk/~SSS06/Website/index.html])

Robotics Teaching Assistant lectures (Como)

2012-06-20T15:55:19Z

SimoneCeriani: /* 6th lecture */

Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)

The latex sources and Matlab code are also available on the svn

<code>svn co https://svn.ws.dei.polimi.it/airlab/Courses/Robotics_como</code>

==1st lecture==
* Homogeneous coordinates for points in 2D and 3D
* Rotation and translation in 2D and 3D homogeneous coordinate
* Transformation inversion and composition.
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points
* The line at the infinity (2D)
* Brief introduction to conics
* 2D projective transformation introduction

Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]

==2nd lecture==
* Projective 2D transformations (Homographies) of points, lines and conics
* Homography estimation and image rectification
* Hierarchy of transformations (isometries, similarities, affine, homographies)
* Vanishing points
* Parametric lines and Cross Ratio (with exercize)
* Affine reconstruction
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines
* Brief recall to art and usage of vanishing points
* Some videos and images examples
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field
* Pin hole model, Intrinsic camera matrix
* Extra exercises with cross ratio

Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]
Videos:
* [[File:Flagellazione_camera.mpg.zip‎]]
* [[File:Hutme_camera.mpg.zip‎]]
* [[File:Trinity.sb.mpg.zip‎]]
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular

Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]

Matlab code [[File:Robotics-matlab-02.zip]]

==3th lecture==
* Pin hole model recall
* Projection Matrix
* Interpretation line
* Image of origin and vanishing points
* Angle of view
* Radial and tangential distortion model
* Camera calibration (Matlab Camera Calibration Toolbox [http://vision.caltech.edu/bouguetj/calib_doc/])
* Epipolar geometry
* Fundamental matrix
* Features in image
* Thresholding, Filtering, Smoothing, Gradient
* Canny edge detector
* Hough transformation for lines extraction
* Corners
* Template matching: patches and SIFT
* Final Exercize on Camera Geometry

Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]

Matlab code [[File:Robotics-matlab-03.zip]]

==4th lecture==
* Mobile robot localization
* Taxonomy of localization problems
* Probability recall
* Bayes formula and bayes filter
* Markov Localization

Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]

Matlab code [[File:Robotics-matlab-04.zip]]

==5th lecture==
* Kalman Filter
* Kalman Filter example: falling body
* Extended Kalman filter
* Extended Kalman filter localization
* Correspondances, data association and Mahalanobis distance
* Qualitative introduction to Monte Carlo Localization and Particle filters

Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]

Matlab code [[File:Robotics-matlab-05.zip]]

==6th lecture==
* Introduction to SLAM
* EKF-SLAM: motion model, addition, measurement
* Data associaton: Examples with JCBB
* Visual SLAM & Monocular SLAM
* Large scale SLAM issues
* Some videos...
* SLAM with OmniDirectionalCamera
* PTAM, Laser based SLAM

Slides with animations [[File:Robotics-ceriani-ese-06-anim.pdf]]
Download all videos from here [ftp://ftp.dei.polimi.it/users/Simone.Ceriani/Robotics/2011-2012/videos/] and place them in a folder named "videos" in the same folder of the slide file
Video are played in the pdf file in Windows using Acrobat Reader, in Linux using Okular

Handout [[File:Robotics-ceriani-ese-06-handout.pdf]]

Matlab code [[File:Robotics-matlab-06.zip]] (this material is from [http://www.robots.ox.ac.uk/~SSS06/Website/index.html])

File:Localization.flv.zip

2012-06-20T15:39:55Z

SimoneCeriani:

Robotics Teaching Assistant lectures (Como)

2012-06-20T15:39:21Z

SimoneCeriani:

Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)

The latex sources and Matlab code are also available on the svn

<code>svn co https://svn.ws.dei.polimi.it/airlab/Courses/Robotics_como</code>

==1st lecture==
* Homogeneous coordinates for points in 2D and 3D
* Rotation and translation in 2D and 3D homogeneous coordinate
* Transformation inversion and composition.
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points
* The line at the infinity (2D)
* Brief introduction to conics
* 2D projective transformation introduction

Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]

==2nd lecture==
* Projective 2D transformations (Homographies) of points, lines and conics
* Homography estimation and image rectification
* Hierarchy of transformations (isometries, similarities, affine, homographies)
* Vanishing points
* Parametric lines and Cross Ratio (with exercize)
* Affine reconstruction
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines
* Brief recall to art and usage of vanishing points
* Some videos and images examples
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field
* Pin hole model, Intrinsic camera matrix
* Extra exercises with cross ratio

Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]
Videos:
* [[File:Flagellazione_camera.mpg.zip‎]]
* [[File:Hutme_camera.mpg.zip‎]]
* [[File:Trinity.sb.mpg.zip‎]]
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular

Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]

Matlab code [[File:Robotics-matlab-02.zip]]

==3th lecture==
* Pin hole model recall
* Projection Matrix
* Interpretation line
* Image of origin and vanishing points
* Angle of view
* Radial and tangential distortion model
* Camera calibration (Matlab Camera Calibration Toolbox [http://vision.caltech.edu/bouguetj/calib_doc/])
* Epipolar geometry
* Fundamental matrix
* Features in image
* Thresholding, Filtering, Smoothing, Gradient
* Canny edge detector
* Hough transformation for lines extraction
* Corners
* Template matching: patches and SIFT
* Final Exercize on Camera Geometry

Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]

Matlab code [[File:Robotics-matlab-03.zip]]

==4th lecture==
* Mobile robot localization
* Taxonomy of localization problems
* Probability recall
* Bayes formula and bayes filter
* Markov Localization

Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]

Matlab code [[File:Robotics-matlab-04.zip]]

==5th lecture==
* Kalman Filter
* Kalman Filter example: falling body
* Extended Kalman filter
* Extended Kalman filter localization
* Correspondances, data association and Mahalanobis distance
* Qualitative introduction to Monte Carlo Localization and Particle filters

Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]

Matlab code [[File:Robotics-matlab-05.zip]]

==6th lecture==
* Introduction to SLAM
* EKF-SLAM: motion model, addition, measurement
* Data associaton: Examples with JCBB
* Visual SLAM & Monocular SLAM
* Large scale SLAM issues
* Some videos...
* SLAM with OmniDirectionalCamera
* PTAM, Laser based SLAM

Slides with animations [[File:Robotics-ceriani-ese-06-anim.pdf]]
Videos:
* [[File:‎]]
* [[File:]]
* [[File:]]
Note: Some videos are missed due to limits of upload of this wiki, you can download them directly from youtube, links are on the slides.
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular

Handout [[File:Robotics-ceriani-ese-06-handout.pdf]]

Matlab code [[File:Robotics-matlab-06.zip]] (this material is from [http://www.robots.ox.ac.uk/~SSS06/Website/index.html])

Robotics Teaching Assistant lectures (Como)

2012-06-20T15:37:34Z

SimoneCeriani:

Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)

The latex sources and Matlab code are also available on the svn

<code>svn co https://svn.ws.dei.polimi.it/airlab/Courses/Robotics_como</code>

==1st lecture==
* Homogeneous coordinates for points in 2D and 3D
* Rotation and translation in 2D and 3D homogeneous coordinate
* Transformation inversion and composition.
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points
* The line at the infinity (2D)
* Brief introduction to conics
* 2D projective transformation introduction

Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]

==2nd lecture==
* Projective 2D transformations (Homographies) of points, lines and conics
* Homography estimation and image rectification
* Hierarchy of transformations (isometries, similarities, affine, homographies)
* Vanishing points
* Parametric lines and Cross Ratio (with exercize)
* Affine reconstruction
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines
* Brief recall to art and usage of vanishing points
* Some videos and images examples
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field
* Pin hole model, Intrinsic camera matrix
* Extra exercises with cross ratio

Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]
Videos:
* [[File:Flagellazione_camera.mpg.zip‎]]
* [[File:Hutme_camera.mpg.zip‎]]
* [[File:Trinity.sb.mpg.zip‎]]
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular

Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]

Matlab code [[File:Robotics-matlab-02.zip]]

==3th lecture==
* Pin hole model recall
* Projection Matrix
* Interpretation line
* Image of origin and vanishing points
* Angle of view
* Radial and tangential distortion model
* Camera calibration (Matlab Camera Calibration Toolbox [http://vision.caltech.edu/bouguetj/calib_doc/])
* Epipolar geometry
* Fundamental matrix
* Features in image
* Thresholding, Filtering, Smoothing, Gradient
* Canny edge detector
* Hough transformation for lines extraction
* Corners
* Template matching: patches and SIFT
* Final Exercize on Camera Geometry

Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]

Matlab code [[File:Robotics-matlab-03.zip]]

==4th lecture==
* Mobile robot localization
* Taxonomy of localization problems
* Probability recall
* Bayes formula and bayes filter
* Markov Localization

Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]

Matlab code [[File:Robotics-matlab-04.zip]]

==5th lecture==
* Kalman Filter
* Kalman Filter example: falling body
* Extended Kalman filter
* Extended Kalman filter localization
* Correspondances, data association and Mahalanobis distance
* Qualitative introduction to Monte Carlo Localization and Particle filters

Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]

Matlab code [[File:Robotics-matlab-05.zip]]

==6th lecture==
* Introduction to SLAM
* EKF-SLAM: motion model, addition, measurement
* Data associaton: Examples with JCBB
* Visual SLAM & Monocular SLAM
* Large scale SLAM issues
* Some videos...
* SLAM with OmniDirectionalCamera
* PTAM, Laser based SLAM

Slides with animations [[File:Robotics-ceriani-ese-06-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-06-handout.pdf]]

Matlab code [[File:Robotics-matlab-06.zip]] (this material is from [http://www.robots.ox.ac.uk/~SSS06/Website/index.html])

Robotics Teaching Assistant lectures (Como)

2012-06-08T08:54:19Z

SimoneCeriani:

Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)

The latex sources and Matlab code are also available on the svn

<code>svn co https://svn.ws.dei.polimi.it/airlab/Courses/Robotics_como</code>

==1st lecture==
* Homogeneous coordinates for points in 2D and 3D
* Rotation and translation in 2D and 3D homogeneous coordinate
* Transformation inversion and composition.
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points
* The line at the infinity (2D)
* Brief introduction to conics
* 2D projective transformation introduction

Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]

==2nd lecture==
* Projective 2D transformations (Homographies) of points, lines and conics
* Homography estimation and image rectification
* Hierarchy of transformations (isometries, similarities, affine, homographies)
* Vanishing points
* Parametric lines and Cross Ratio (with exercize)
* Affine reconstruction
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines
* Brief recall to art and usage of vanishing points
* Some videos and images examples
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field
* Pin hole model, Intrinsic camera matrix
* Extra exercises with cross ratio

Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]
Videos:
* [[File:Flagellazione_camera.mpg.zip‎]]
* [[File:Hutme_camera.mpg.zip‎]]
* [[File:Trinity.sb.mpg.zip‎]]
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular

Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]

Matlab code [[File:Robotics-matlab-02.zip]]

==3th lecture==
* Pin hole model recall
* Projection Matrix
* Interpretation line
* Image of origin and vanishing points
* Angle of view
* Radial and tangential distortion model
* Camera calibration (Matlab Camera Calibration Toolbox [http://vision.caltech.edu/bouguetj/calib_doc/])
* Epipolar geometry
* Fundamental matrix
* Features in image
* Thresholding, Filtering, Smoothing, Gradient
* Canny edge detector
* Hough transformation for lines extraction
* Corners
* Template matching: patches and SIFT
* Final Exercize on Camera Geometry

Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]

Matlab code [[File:Robotics-matlab-03.zip]]

==4th lecture==
* Mobile robot localization
* Taxonomy of localization problems
* Probability recall
* Bayes formula and bayes filter
* Markov Localization

Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]

Matlab code [[File:Robotics-matlab-04.zip]]

==5th lecture==
* Kalman Filter
* Kalman Filter example: falling body
* Extended Kalman filter
* Extended Kalman filter localization
* Correspondances, data association and Mahalanobis distance
* Qualitative introduction to Monte Carlo Localization and Particle filters

Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]

Matlab code [[File:Robotics-matlab-05.zip]]

Courses

2012-06-08T08:26:45Z

SimoneCeriani: /* Laurea Triennale courses */

==Laurea Triennale courses==

* [http://home.dei.polimi.it//colombet/IC/index.html Ingegneria della Conoscenza], M. Colombetti
* [http://chrome.ws.dei.polimi.it/index.php/SC:Knowledge_Engineering Knowledge Engineering], Matteo Matteucci (Como)
* [http://www.laureaonline.polimi.it/corsi/corso_3f_intelligenza.html Intelligenza Artificiale (laurea Online)] Andrea Bonarini
* [http://home.dei.polimi.it/gini/robot/lezioni.htm Robotica], G. Gini
* [http://home.dei.polimi.it/restelli/MyWebSite/teaching_robotica.shtml Robotica], M. Restelli (Como) - ([[Robotics Teaching Assistant lectures (Como)|Teaching assistant lectures]])

==Laurea magistrale (master) courses==

* [http://home.dei.polimi.it/gini/robot/lezionir2.htm Robotica 2], G. Gini
* [http://home.dei.polimi.it/bonarini/Didattica/SoftComputing/index.html Soft Computing], A. Bonarini
* [http://home.dei.polimi.it/schiaffo/TFI Corso di temi filosofici dell'informatica ], V. Schiaffonati
* [http://home.dei.polimi.it/schiaffo/TFIS Corso di temi filosofici dell'ingegneria e della scienza ], V. Schiaffonati (Ing. Matematica)
* [http://home.dei.polimi.it/amigoni/IntelligenzaArtificiale.html Intelligenza Artificiale], F. Amigoni
* [http://home.dei.polimi.it/amigoni/AgentiAutonomiESistemiMultiagente.html Agenti Autonomi e Sistemi Multiagente], F. Amigoni
* [http://webspace.elet.polimi.it/lanzi/?page_id=15 Laboratory of Artificial Intelligence & Robotics], P. L. Lanzi
* [http://webspace.elet.polimi.it/lanzi/?page_id=106 Data Mining and Text Mining], P. L. Lanzi
* [[Image Analysis and Synthesis]], V. Caglioti
* [http://chrome.ws.dei.polimi.it/index.php/Pattern_Analysis_and_Machine_Intelligence Pattern Analysis and Machine Intelligence], M. Matteucci (Como)

From 2010-2011 a [http://ccs-informatica.ws.dei.polimi.it/index.php?option=com_content&view=article&id=59&Itemid=68 new organization of courses] for master thesis has been devised, and two suggested tracks have been dedicated to [http://ccs-informatica.ws.dei.polimi.it/index.php?option=com_content&view=article&id=64&Itemid=68 Artificial Intelligence] and [http://ccs-informatica.ws.dei.polimi.it/index.php?option=com_content&view=article&id=65&Itemid=68 Robotics and Vision] among the ones proposed for Computer Engineering.

==PhD courses==

* [http://chrome.ws.dei.polimi.it/index.php/3D_Structure_From_Visual_Motion 3D Structure from Visual Motion: Novel Techniques in Computer Vision and Autonomous Robots/Vehicles], M. Matteucci, V. Caglioti, M. Marcon 2012
* [http://home.dei.polimi.it/gini/CompChem/ Problems and approaches in Computational Chemistry], G. Gini, 2007/08
* [http://home.dei.polimi.it/ngatti/teach-alggt.htm Algorithmic Game Theory], N. Gatti, M. Restelli, 2008
* [http://intranet.dei.polimi.it/dottorato/dettagli_corso_b.php?id_corso=293 Numerical Geometry of Nonrigid Shapes], Alex & Michael Bronstein, 2007/08
* [http://home.dei.polimi.it/ngatti/teach-cgmda.htm Cooperative Games, Mechanism Design, and Auctions], 2009
* [http://dottorato.dei.polimi.it/dettagli_corso_b_eng.php?id_corso=456 Intelligent Multiagent Systems], 2011
* [http://dottorato.dei.polimi.it/dettagli_corso_b_eng.php?id_corso=458 Genetic Algorithms and other evolutionary techniques], 2011
* [http://home.dei.polimi.it/bonarini/Didattica/SC2010 Soft Computing], A. Bonarini, M. Matteucci 2006, 2010, 2012

Courses

2012-06-08T08:23:08Z

SimoneCeriani:

==Laurea Triennale courses==

* [http://home.dei.polimi.it//colombet/IC/index.html Ingegneria della Conoscenza], M. Colombetti
* [http://chrome.ws.dei.polimi.it/index.php/SC:Knowledge_Engineering Knowledge Engineering], Matteo Matteucci (Como)
* [http://www.laureaonline.polimi.it/corsi/corso_3f_intelligenza.html Intelligenza Artificiale (laurea Online)] Andrea Bonarini
* [http://home.dei.polimi.it/gini/robot/lezioni.htm Robotica], G. Gini
* [http://home.dei.polimi.it/restelli/MyWebSite/teaching_robotica.shtml Robotica], M. Restelli (Como) [[Robotics Teaching Assistant lectures (Como)|Teaching assistant lectures]]

==Laurea magistrale (master) courses==

* [http://home.dei.polimi.it/gini/robot/lezionir2.htm Robotica 2], G. Gini
* [http://home.dei.polimi.it/bonarini/Didattica/SoftComputing/index.html Soft Computing], A. Bonarini
* [http://home.dei.polimi.it/schiaffo/TFI Corso di temi filosofici dell'informatica ], V. Schiaffonati
* [http://home.dei.polimi.it/schiaffo/TFIS Corso di temi filosofici dell'ingegneria e della scienza ], V. Schiaffonati (Ing. Matematica)
* [http://home.dei.polimi.it/amigoni/IntelligenzaArtificiale.html Intelligenza Artificiale], F. Amigoni
* [http://home.dei.polimi.it/amigoni/AgentiAutonomiESistemiMultiagente.html Agenti Autonomi e Sistemi Multiagente], F. Amigoni
* [http://webspace.elet.polimi.it/lanzi/?page_id=15 Laboratory of Artificial Intelligence & Robotics], P. L. Lanzi
* [http://webspace.elet.polimi.it/lanzi/?page_id=106 Data Mining and Text Mining], P. L. Lanzi
* [[Image Analysis and Synthesis]], V. Caglioti
* [http://chrome.ws.dei.polimi.it/index.php/Pattern_Analysis_and_Machine_Intelligence Pattern Analysis and Machine Intelligence], M. Matteucci (Como)

From 2010-2011 a [http://ccs-informatica.ws.dei.polimi.it/index.php?option=com_content&view=article&id=59&Itemid=68 new organization of courses] for master thesis has been devised, and two suggested tracks have been dedicated to [http://ccs-informatica.ws.dei.polimi.it/index.php?option=com_content&view=article&id=64&Itemid=68 Artificial Intelligence] and [http://ccs-informatica.ws.dei.polimi.it/index.php?option=com_content&view=article&id=65&Itemid=68 Robotics and Vision] among the ones proposed for Computer Engineering.

==PhD courses==

* [http://chrome.ws.dei.polimi.it/index.php/3D_Structure_From_Visual_Motion 3D Structure from Visual Motion: Novel Techniques in Computer Vision and Autonomous Robots/Vehicles], M. Matteucci, V. Caglioti, M. Marcon 2012
* [http://home.dei.polimi.it/gini/CompChem/ Problems and approaches in Computational Chemistry], G. Gini, 2007/08
* [http://home.dei.polimi.it/ngatti/teach-alggt.htm Algorithmic Game Theory], N. Gatti, M. Restelli, 2008
* [http://intranet.dei.polimi.it/dottorato/dettagli_corso_b.php?id_corso=293 Numerical Geometry of Nonrigid Shapes], Alex & Michael Bronstein, 2007/08
* [http://home.dei.polimi.it/ngatti/teach-cgmda.htm Cooperative Games, Mechanism Design, and Auctions], 2009
* [http://dottorato.dei.polimi.it/dettagli_corso_b_eng.php?id_corso=456 Intelligent Multiagent Systems], 2011
* [http://dottorato.dei.polimi.it/dettagli_corso_b_eng.php?id_corso=458 Genetic Algorithms and other evolutionary techniques], 2011
* [http://home.dei.polimi.it/bonarini/Didattica/SC2010 Soft Computing], A. Bonarini, M. Matteucci 2006, 2010, 2012

Robotics Teaching Assistant lectures (Como)

2012-06-08T08:19:11Z

SimoneCeriani:

Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)

==1st lecture==
* Homogeneous coordinates for points in 2D and 3D
* Rotation and translation in 2D and 3D homogeneous coordinate
* Transformation inversion and composition.
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points
* The line at the infinity (2D)
* Brief introduction to conics
* 2D projective transformation introduction

Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]

==2nd lecture==
* Projective 2D transformations (Homographies) of points, lines and conics
* Homography estimation and image rectification
* Hierarchy of transformations (isometries, similarities, affine, homographies)
* Vanishing points
* Parametric lines and Cross Ratio (with exercize)
* Affine reconstruction
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines
* Brief recall to art and usage of vanishing points
* Some videos and images examples
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field
* Pin hole model, Intrinsic camera matrix
* Extra exercises with cross ratio

Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]
Videos:
* [[File:Flagellazione_camera.mpg.zip‎]]
* [[File:Hutme_camera.mpg.zip‎]]
* [[File:Trinity.sb.mpg.zip‎]]
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular

Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]

Matlab code [[File:Robotics-matlab-02.zip]]

==3th lecture==
* Pin hole model recall
* Projection Matrix
* Interpretation line
* Image of origin and vanishing points
* Angle of view
* Radial and tangential distortion model
* Camera calibration (Matlab Camera Calibration Toolbox [http://vision.caltech.edu/bouguetj/calib_doc/])
* Epipolar geometry
* Fundamental matrix
* Features in image
* Thresholding, Filtering, Smoothing, Gradient
* Canny edge detector
* Hough transformation for lines extraction
* Corners
* Template matching: patches and SIFT
* Final Exercize on Camera Geometry

Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]

Matlab code [[File:Robotics-matlab-03.zip]]

==4th lecture==
* Mobile robot localization
* Taxonomy of localization problems
* Probability recall
* Bayes formula and bayes filter
* Markov Localization

Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]

Matlab code [[File:Robotics-matlab-04.zip]]

==5th lecture==
* Kalman Filter
* Kalman Filter example: falling body
* Extended Kalman filter
* Extended Kalman filter localization
* Correspondances, data association and Mahalanobis distance
* Qualitative introduction to Monte Carlo Localization and Particle filters

Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]

Matlab code [[File:Robotics-matlab-05.zip]]

File:Robotics-matlab-05.zip

2012-06-08T08:19:00Z

SimoneCeriani:

File:Robotics-matlab-04.zip

2012-06-08T08:18:52Z

SimoneCeriani:

File:Robotics-matlab-03.zip

2012-06-08T08:13:54Z

SimoneCeriani:

Robotics Teaching Assistant lectures (Como)

2012-06-08T08:12:22Z

SimoneCeriani: /* 2nd lecture */

Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)

==1st lecture==
* Homogeneous coordinates for points in 2D and 3D
* Rotation and translation in 2D and 3D homogeneous coordinate
* Transformation inversion and composition.
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points
* The line at the infinity (2D)
* Brief introduction to conics
* 2D projective transformation introduction

Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]

==2nd lecture==
* Projective 2D transformations (Homographies) of points, lines and conics
* Homography estimation and image rectification
* Hierarchy of transformations (isometries, similarities, affine, homographies)
* Vanishing points
* Parametric lines and Cross Ratio (with exercize)
* Affine reconstruction
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines
* Brief recall to art and usage of vanishing points
* Some videos and images examples
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field
* Pin hole model, Intrinsic camera matrix
* Extra exercises with cross ratio

Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]
Videos:
* [[File:Flagellazione_camera.mpg.zip‎]]
* [[File:Hutme_camera.mpg.zip‎]]
* [[File:Trinity.sb.mpg.zip‎]]
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular

Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]

Matlab code [[File:Robotics-matlab-02.zip]]

==3th lecture==
* Pin hole model recall
* Projection Matrix
* Interpretation line
* Image of origin and vanishing points
* Angle of view
* Radial and tangential distortion model
* Camera calibration (Matlab Camera Calibration Toolbox [http://vision.caltech.edu/bouguetj/calib_doc/])
* Epipolar geometry
* Fundamental matrix
* Features in image
* Thresholding, Filtering, Smoothing, Gradient
* Canny edge detector
* Hough transformation for lines extraction
* Corners
* Template matching: patches and SIFT
* Final Exercize on Camera Geometry

Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]

==4th lecture==
* Mobile robot localization
* Taxonomy of localization problems
* Probability recall
* Bayes formula and bayes filter
* Markov Localization

Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]

==5th lecture==
* Kalman Filter
* Kalman Filter example: falling body
* Extended Kalman filter
* Extended Kalman filter localization
* Correspondances, data association and Mahalanobis distance
* Qualitative introduction to Monte Carlo Localization and Particle filters

Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]

File:Robotics-matlab-02.zip

2012-06-08T08:12:02Z

SimoneCeriani:

Robotics Teaching Assistant lectures (Como)

2012-06-08T08:02:33Z

SimoneCeriani: /* 5th lecture */

Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)

==1st lecture==
* Homogeneous coordinates for points in 2D and 3D
* Rotation and translation in 2D and 3D homogeneous coordinate
* Transformation inversion and composition.
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points
* The line at the infinity (2D)
* Brief introduction to conics
* 2D projective transformation introduction

Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]

==2nd lecture==
* Projective 2D transformations (Homographies) of points, lines and conics
* Homography estimation and image rectification
* Hierarchy of transformations (isometries, similarities, affine, homographies)
* Vanishing points
* Parametric lines and Cross Ratio (with exercize)
* Affine reconstruction
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines
* Brief recall to art and usage of vanishing points
* Some videos and images examples
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field
* Pin hole model, Intrinsic camera matrix
* Extra exercises with cross ratio

Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]
Videos:
* [[File:Flagellazione_camera.mpg.zip‎]]
* [[File:Hutme_camera.mpg.zip‎]]
* [[File:Trinity.sb.mpg.zip‎]]
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular

Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]

==3th lecture==
* Pin hole model recall
* Projection Matrix
* Interpretation line
* Image of origin and vanishing points
* Angle of view
* Radial and tangential distortion model
* Camera calibration (Matlab Camera Calibration Toolbox [http://vision.caltech.edu/bouguetj/calib_doc/])
* Epipolar geometry
* Fundamental matrix
* Features in image
* Thresholding, Filtering, Smoothing, Gradient
* Canny edge detector
* Hough transformation for lines extraction
* Corners
* Template matching: patches and SIFT
* Final Exercize on Camera Geometry

Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]

==4th lecture==
* Mobile robot localization
* Taxonomy of localization problems
* Probability recall
* Bayes formula and bayes filter
* Markov Localization

Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]

==5th lecture==
* Kalman Filter
* Kalman Filter example: falling body
* Extended Kalman filter
* Extended Kalman filter localization
* Correspondances, data association and Mahalanobis distance
* Qualitative introduction to Monte Carlo Localization and Particle filters

Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]

Robotics Teaching Assistant lectures (Como)

2012-06-08T08:00:39Z

SimoneCeriani: /* 4th lecture */

Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)

==1st lecture==
* Homogeneous coordinates for points in 2D and 3D
* Rotation and translation in 2D and 3D homogeneous coordinate
* Transformation inversion and composition.
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points
* The line at the infinity (2D)
* Brief introduction to conics
* 2D projective transformation introduction

Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]

==2nd lecture==
* Projective 2D transformations (Homographies) of points, lines and conics
* Homography estimation and image rectification
* Hierarchy of transformations (isometries, similarities, affine, homographies)
* Vanishing points
* Parametric lines and Cross Ratio (with exercize)
* Affine reconstruction
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines
* Brief recall to art and usage of vanishing points
* Some videos and images examples
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field
* Pin hole model, Intrinsic camera matrix
* Extra exercises with cross ratio

Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]
Videos:
* [[File:Flagellazione_camera.mpg.zip‎]]
* [[File:Hutme_camera.mpg.zip‎]]
* [[File:Trinity.sb.mpg.zip‎]]
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular

Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]

==3th lecture==
* Pin hole model recall
* Projection Matrix
* Interpretation line
* Image of origin and vanishing points
* Angle of view
* Radial and tangential distortion model
* Camera calibration (Matlab Camera Calibration Toolbox [http://vision.caltech.edu/bouguetj/calib_doc/])
* Epipolar geometry
* Fundamental matrix
* Features in image
* Thresholding, Filtering, Smoothing, Gradient
* Canny edge detector
* Hough transformation for lines extraction
* Corners
* Template matching: patches and SIFT
* Final Exercize on Camera Geometry

Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]

==4th lecture==
* Mobile robot localization
* Taxonomy of localization problems
* Probability recall
* Bayes formula and bayes filter
* Markov Localization

Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]

==5th lecture==

Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]

Robotics Teaching Assistant lectures (Como)

2012-06-08T07:57:06Z

SimoneCeriani: /* 3th lecture */

Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)

==1st lecture==
* Homogeneous coordinates for points in 2D and 3D
* Rotation and translation in 2D and 3D homogeneous coordinate
* Transformation inversion and composition.
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points
* The line at the infinity (2D)
* Brief introduction to conics
* 2D projective transformation introduction

Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]

==2nd lecture==
* Projective 2D transformations (Homographies) of points, lines and conics
* Homography estimation and image rectification
* Hierarchy of transformations (isometries, similarities, affine, homographies)
* Vanishing points
* Parametric lines and Cross Ratio (with exercize)
* Affine reconstruction
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines
* Brief recall to art and usage of vanishing points
* Some videos and images examples
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field
* Pin hole model, Intrinsic camera matrix
* Extra exercises with cross ratio

Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]
Videos:
* [[File:Flagellazione_camera.mpg.zip‎]]
* [[File:Hutme_camera.mpg.zip‎]]
* [[File:Trinity.sb.mpg.zip‎]]
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular

Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]

==3th lecture==
* Pin hole model recall
* Projection Matrix
* Interpretation line
* Image of origin and vanishing points
* Angle of view
* Radial and tangential distortion model
* Camera calibration (Matlab Camera Calibration Toolbox [http://vision.caltech.edu/bouguetj/calib_doc/])
* Epipolar geometry
* Fundamental matrix
* Features in image
* Thresholding, Filtering, Smoothing, Gradient
* Canny edge detector
* Hough transformation for lines extraction
* Corners
* Template matching: patches and SIFT
* Final Exercize on Camera Geometry

Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]

==4th lecture==

Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]

==5th lecture==

Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]

Robotics Teaching Assistant lectures (Como)

2012-06-08T07:56:14Z

SimoneCeriani: /* 3th lecture */

Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)

==1st lecture==
* Homogeneous coordinates for points in 2D and 3D
* Rotation and translation in 2D and 3D homogeneous coordinate
* Transformation inversion and composition.
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points
* The line at the infinity (2D)
* Brief introduction to conics
* 2D projective transformation introduction

Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]

==2nd lecture==
* Projective 2D transformations (Homographies) of points, lines and conics
* Homography estimation and image rectification
* Hierarchy of transformations (isometries, similarities, affine, homographies)
* Vanishing points
* Parametric lines and Cross Ratio (with exercize)
* Affine reconstruction
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines
* Brief recall to art and usage of vanishing points
* Some videos and images examples
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field
* Pin hole model, Intrinsic camera matrix
* Extra exercises with cross ratio

Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]
Videos:
* [[File:Flagellazione_camera.mpg.zip‎]]
* [[File:Hutme_camera.mpg.zip‎]]
* [[File:Trinity.sb.mpg.zip‎]]
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular

Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]

==3th lecture==
* Pin hole model recall
* Projection Matrix
* Interpretation line
* Image of origin and vanishing points
* Angle of view
* Radial and tangential distortion model
* Camera calibration (Matlab Camera Calibration Toolbox [http://http://www.vision.caltech.edu/bouguetj/calib_doc/])
* Epipolar geometry
* Fundamental matrix
* Features in image
* Thresholding, Filtering, Smoothing, Gradient
* Canny edge detector
* Hough transformation for lines extraction
* Corners
* Template matching: patches and SIFT
* Final Exercize on Camera Geometry

Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]

==4th lecture==

Slides with animations [[File:Robotics-ceriani-ese-04-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-04-handout.pdf]]

==5th lecture==

Slides with animations [[File:Robotics-ceriani-ese-05-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-05-handout.pdf]]

Robotics Teaching Assistant lectures (Como)

2012-06-08T07:46:18Z

SimoneCeriani:

File:Robotics-ceriani-ese-05-handout.pdf

2012-06-08T07:44:40Z

SimoneCeriani:

File:Robotics-ceriani-ese-05-anim.pdf

2012-06-08T07:44:15Z

SimoneCeriani:

File:Robotics-ceriani-ese-04-handout.pdf

2012-06-08T07:43:58Z

SimoneCeriani:

File:Robotics-ceriani-ese-04-anim.pdf

2012-06-08T07:43:40Z

SimoneCeriani:

Robotics Teaching Assistant lectures (Como)

2012-06-08T07:42:55Z

SimoneCeriani:

Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)

==First lecture==
* Homogeneous coordinates for points in 2D and 3D
* Rotation and translation in 2D and 3D homogeneous coordinate
* Transformation inversion and composition.
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points
* The line at the infinity (2D)
* Brief introduction to conics
* 2D projective transformation introduction

Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]

==Second lecture==
* Projective 2D transformations (Homographies) of points, lines and conics
* Homography estimation and image rectification
* Hierarchy of transformations (isometries, similarities, affine, homographies)
* Vanishing points
* Parametric lines and Cross Ratio (with exercize)
* Affine reconstruction
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines
* Brief recall to art and usage of vanishing points
* Some videos and images examples
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field
* Pin hole model, Intrinsic camera matrix
* Extra exercises with cross ratio

Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]]
Videos:
* [[File:Flagellazione_camera.mpg.zip‎]]
* [[File:Hutme_camera.mpg.zip‎]]
* [[File:Trinity.sb.mpg.zip‎]]
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular

Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]

==Third lecture==

Slides with animations [[File:Robotics-ceriani-ese-03-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-03-handout.pdf]]

Robotics Teaching Assistant lectures (Como)

2012-06-08T07:42:02Z

SimoneCeriani: /* Second lecture */

Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)

==First lecture==
* Homogeneous coordinates for points in 2D and 3D
* Rotation and translation in 2D and 3D homogeneous coordinate
* Transformation inversion and composition.
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points
* The line at the infinity (2D)
* Brief introduction to conics
* 2D projective transformation introduction

Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]

==Second lecture==
* Projective 2D transformations (Homographies) of points, lines and conics
* Homography estimation and image rectification
* Hierarchy of transformations (isometries, similarities, affine, homographies)
* Vanishing points
* Parametric lines and Cross Ratio (with exercize)
* Affine reconstruction
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines
* Brief recall to art and usage of vanishing points
* Some videos and images examples
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field
* Pin hole model, Intrinsic camera matrix
* Extra exercises with cross ratio

Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]],
Videos:
* [[File:Flagellazione_camera.mpg.zip‎]]
* [[File:Hutme_camera.mpg.zip‎]]
* [[File:Trinity.sb.mpg.zip‎]]
To see videos in the presentation you have to download and extract them into a folder named "videos" in the same folder of the slide file
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular

Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]

Robotics Teaching Assistant lectures (Como)

2012-06-08T07:41:46Z

SimoneCeriani: /* Second lecture */

Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)

==First lecture==
* Homogeneous coordinates for points in 2D and 3D
* Rotation and translation in 2D and 3D homogeneous coordinate
* Transformation inversion and composition.
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points
* The line at the infinity (2D)
* Brief introduction to conics
* 2D projective transformation introduction

Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]

==Second lecture==
* Projective 2D transformations (Homographies) of points, lines and conics
* Homography estimation and image rectification
* Hierarchy of transformations (isometries, similarities, affine, homographies)
* Vanishing points
* Parametric lines and Cross Ratio (with exercize)
* Affine reconstruction
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines
* Brief recall to art and usage of vanishing points
* Some videos and images examples
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field
* Pin hole model, Intrinsic camera matrix
* Extra exercises with cross ratio

Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]],
Videos:
* [[File:Flagellazione_camera.mpg.zip‎]]
* [[File:Hutme_camera.mpg.zip‎]]
* [[File:Trinity.sb.mpg.zip‎]]
To see videos in the presentation you have to download them into a folder named "videos" in the same folder of the slide file
Video are visible in the pdf file in Windows using Acrobat Reader, in Linux using Okular

Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]

File:Trinity.sb.mpg.zip

2012-06-08T07:39:59Z

SimoneCeriani:

File:Hutme camera.mpg.zip

2012-06-08T07:39:35Z

SimoneCeriani:

File:Flagellazione camera.mpg.zip

2012-06-08T07:39:00Z

SimoneCeriani:

File:Robotics-ceriani-ese-03-handout.pdf

2012-06-08T07:26:50Z

SimoneCeriani:

File:Robotics-ceriani-ese-03-anim.pdf

2012-06-08T07:26:25Z

SimoneCeriani:

File:Robotics-ceriani-ese-02-anim.pdf

2012-06-08T07:25:28Z

SimoneCeriani:

File:Robotics-ceriani-ese-02-handout.pdf

2012-06-08T07:21:59Z

SimoneCeriani:

Robotics Teaching Assistant lectures (Como)

2012-06-08T07:20:22Z

SimoneCeriani:

Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)

==First lecture==
* Homogeneous coordinates for points in 2D and 3D
* Rotation and translation in 2D and 3D homogeneous coordinate
* Transformation inversion and composition.
* Lines in 2D homogeneous coordinates, duality with points, line intersection and line joining two points
* The line at the infinity (2D)
* Brief introduction to conics
* 2D projective transformation introduction

Slides with animations [[File:Robotics-ceriani-ese-01-anim.pdf]]

Handout [[File:Robotics-ceriani-ese-01-handout.pdf]]

==Second lecture==
* Projective 2D transformations (Homographies) of points, lines and conics
* Homography estimation and image rectification
* Hierarchy of transformations (isometries, similarities, affine, homographies)
* Vanishing points
* Parametric lines and Cross Ratio (with exercize)
* Affine reconstruction
* 3D projective geometry: points and planes, quadrics, transformations, vanishing points and lines
* Brief recall to art and usage of vanishing points
* Some videos and images examples
* Image definition, Camera system, Thin lenses approximation, Fresnel law, depth of field
* Pin hole model, Intrinsic camera matrix
* Extra exercises with cross ratio

Slides with animations [[File:Robotics-ceriani-ese-02-anim.pdf]], videos (extract in the same folder of the slides)

Handout [[File:Robotics-ceriani-ese-02-handout.pdf]]

File:Robotics-ceriani-ese-01-handout.pdf

2012-06-07T22:20:02Z

SimoneCeriani:

Robotics Teaching Assistant lectures (Como)

2012-06-07T22:18:35Z

SimoneCeriani:

Robotics Teaching Assistant lectures (Como)

2012-06-07T22:18:20Z

SimoneCeriani: /* First lecture */

File:Robotics-ceriani-ese-01-anim.pdf

2012-06-07T22:17:13Z

SimoneCeriani:

Robotics Teaching Assistant lectures (Como)

2012-06-07T22:15:21Z

SimoneCeriani:

Robotics Teaching Assistant lectures (Como)

2012-06-07T22:07:40Z

SimoneCeriani: Created page with "Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)"

Materials used in the Tutorial part of ''Robotics'' course (academic year 2011-2012, Como)

LURCH - The autonomous wheelchair

2012-05-30T09:49:37Z

SimoneCeriani: /* New Board for Joystick Hack! */

{{Project
|title=LURCH - the autonomous wheelchair
|image=LURCH wheelchair.jpg
|short_descr=Augmenting commercial electric wheelchairs with autonomous navigation, obstacle avoidance, and multi-modal interfaces
|coordinator=MatteoMatteucci
|tutor=SimoneCeriani;
|collaborator=GiulioFontana;AndreaBonarini
|students=DiegoConsolaro
|resarea=Robotics
|restopic=Robot development
|start=2007/02/01
|end=2011/12/31
|status=Active
}}


__TOC__

L.U.R.C.H. is the acronym of "Let Unleashed Robots Crawl the House" and beside the intentional reminder to the Addam's family character it is the autonomous wheelchair developed at the AIRLab.

LURCH is an extended version of an commercial electric wheelchair (Rabbit by OttoBock) equipped with:
# An interface circuit for digital drive via a radio serial link (XBee modules)
# Two on-board computers ([[PCBricks]]), powered by wheelchair batteries
# A 7-inch touchscreen monitor ([http://www.xenarc.com/product/700tsv.html Xenarc 700TSV]), 800x480 resolution (16:10 AR)
# Two laser scanners Hokuyo URG 04LX
# A colour camera FireI400 (resolution 640×480)
# An odometry system based on encoders applied to the rear wheels


Main goals of the LURCH project are:
# Add sensors and robotic functionalities to the powered wheelchair.
# Add various command interfaces, such as Joypad wireless, speech command, [[HeadsetControlForWheelChair | facial muscle control]], [[Brain-Computer Interface|brain-computer interface]].
# Semi-autonomous navigation with collision and obstacle avoidance.
# Autonomous navigation by path planning and localization.

Functions currently provided by LURCH:
# Driving by the original joystick or a Logitech RumblePad2 wireless joypad.
# Obstacle sensing using planar scanner lasers.
# Basic collision and obstacle avoidance behaviours.
# Indoor localization by a ''fiducial marker system''
# Path planning and basic autonomous navigation.
# [[Brain-Computer Interface|Brain-computer interface]] driving system

==Media Coverage==
Lurch project appeared in many national and international media. You can see the related articles and videos in the [[MediaCoverage]] page.

==LURCH YouTube Videos==

{{#ev:youtube|7bZ45sGf3qs}}

*[http://www.youtube.com/watch?v=7bZ45sGf3qs External link]

{{#ev:youtube|PFjlmcTbGVs}}
*[http://www.youtube.com/watch?v=PFjlmcTbGVs External link]

{{#ev:youtube|RBfIq8eQJ6Q}}
*[http://www.youtube.com/watch?v=RBfIq8eQJ6Q External link]

{{#ev:youtube|iRw8PhY8IF4}}
*[http://www.youtube.com/watch?v=iRw8PhY8IF4 External link]

{{#ev:youtube|zlhePZbRxZA}}
*[http://www.youtube.com/watch?v=zlhePZbRxZA External link]

=== Laboratory work and risk analysis ===

Laboratory work for this project is mainly performed at AIRLab/Lambrate. It includes some mechanical work and electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Transportation of heavy loads (e.g. robots). Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

= Restyling =
Lurch has been restyled in June 2010, see [[LURCH_Restyling|here]] the upgrades...

== New Board for Joystick Hack! ==
Diego Consolaro during his thesis time has written [[Media:LurchMontaggioSchede.pdf]] (in Italian) a paper for assembly the new modular board developed.