ECTS
5 credits
Component
Faculty of Science
Description
This teaching unit aims to study and implement perception systems for mobile robots, manipulators, humanoids, ... The teaching is based on proprioceptive and exteroceptive perception systems with an important focus on vision systems. In the lectures, the general principles of perception are presented as well as the functioning of the most commonly used sensors (cameras, projectors, distance, motion and position sensors, ...). A series of practical works accompany this teaching, taking the form of a long project punctuated by sub-goals addressing different parts of the course.
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This course presents the perception systems commonly used on all types of robots (e.g., mobile robots, manipulators, humanoids). The course presents proprioceptive and exteroceptive sensors with a focus on vision. We start by introducing the general principles of perception, and then explain the modeling and working principle of the main robot sensors: monocular cameras, stereo cameras, distance position and movement sensors, etc. The lab practicals consist of a robotic project with sub-goals addressing the various steps of the course.
Objectives
This course aims to familiarize the student with the study and use of perception systems for robots. Its ambition is to ensure that a student who has taken it is able to read and understand a scientific article in this field and to participate in the development of a robot's perception system by being a force of proposal in its elaboration.
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The objective of this course is to make the student familiar with perception systems for robots. How to design a perception system? How to model it? How to use the sensor information? Its ambition is to enable the student to read and understand a scientific article in this field and to participate in the development of a robot's perception system.
Contact Hours:
Taught lectures: 27 hours
Laboratory Practicals: 15 hours
Necessary pre-requisites
- Good knowledge in signal and image processing,
- Notions of robotics and automation,
- Good knowledge in computer engineering.
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- good knowledge in signal and image processing,
- notions of robotics and automation,
- good knowledge in computer engineering.
Knowledge control
Written exam with documents based on scientific articles 60%.
Practical work 40% of the time
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Written exam based on scientific journal or conference papers 60%.
Practical project 40
Syllabus
Geometric modeling of image formation,
Camera calibration
Principle of stereovision
Motion vision (optical flow, target tracking, ...)
Vision in structured light
Omnidirectional and plenoptic vision
Operating principle and main characteristics of distance, motion and position sensors
Notions of visual servoing
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Geometric modeling of image projection,
Camera calibration
Basics of stereo-vision
Vision with movement (optical flow, target tracking, etc.)
Structured light vision
Omnidirectional and plenoptic vision
Working principle and main characteristics of distance, movement and position sensors
Basics of visual servoing
Additional information
CM : 27h
TP : 15h
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Taught lectures: 27 hours
Laboratory Practicals: 15 hours