Vision Systems for Mobile Robots

Opublikowano: 05.05.2014 14:39

Subject name Vision Systems for Mobile Robots
Type of subject               Specialized
Summary ECTS 2
Form of course 15h lecture, 15h laboratory
Lecturer                           Prof. Barbara Putz, Ph.D., D.Sc.
A brief outline:
Lecture
  • Modern machine vision systems. 2D and 3D cameras and 3D laser rangefinders. FPGA systems. Modern hardware/software interfaces for vision systems.
  • OpenCV programming library and its usage for filtering in the image and frequency domain, morphological transformations, etc.
  • Shape recognition in 2D image. 2D image segmentation.
  • 3D image representations.  3D maps buidling and representation methods.
  • Basics of mobile robot localization.
  • Sterevision. Epipolar geometry, camera set calibration. Disparity maps and image registration algorithms.
  • Image fusion methods. Hardware implementations of image processing algorithms.
Laboratory
  • Introduction to programming with OpenCV library.
  • Basic image processing algorithms with OpenCV library.
  • Markers detection in 2D image.
  • Markers detection in 3D image.
  • Mobile robot localization.
  • Development of vision based robot control program.