USER MANUAL Reference Tracking System for a Mobile Skid Steer
Contents
1. CENTER FOR MACHINE PERCEPTION CZECH TECHNICAL UNIVERSITY IN PRAGUE lt D zZ lt ac TY Un Reference Tracking System for a Mobile Skid Steer Robot Version 1 20 Vladim r Kubelka Vladim r Burian Premysl Kafka kubelka vladimirQfel cvut cz May 9 2012 Available at https cw felk cvut cz doku php misc projects nifti sw start Center for Machine Perception Department of Cybernetics Faculty of Electrical Engineering Czech Technical University Technick 2 166 27 Prague 6 Czech Republic fax 420 2 2435 7385 phone 420 2 2435 7637 www http cmp felk cvut cz Reference Tracking System for a Mobile Skid Steer Robot Vladimir Kubelka Vladimir Burian P emysl Kafka May 9 2012 Abstract The reference tracking system was developed for the NiFTI robot odometry system performance verification as a Prace v tymu a jeji or ganizace ASM99PTO course semester project It uses a single video camera to track the robot movement in a plane A distinct colored marker must be attached to the robot to be tracked The tracker can also determine the robot azimuth given the target contains two differently colored areas This report serves as a user manual demon strating the system usage and will lead the reader through the entire process Natural Human Robot Cooperstion in Dynomic Environments Contents 1 Introduction 2 The experiment 2 1 The experimental setup lll2. na videu ELA ay L x hx Figure 14 The tracking result shown in the video frame 14 Jg File Edit Viev File Edit View Insert Tools Desktop Window Help HSGMosogcas s AReC984Z Aa 08 an Transformovano do sveta Figure 15 The tracking result shown in the world coordinates File Edit View Insert Tools Desktop Window Help DGas s amp Xe54 8 O8 en X coordinate m tracked X coordinate m inso X coordinate m 1 3347 robot time s Figure 16 Track synchronization marking the beginning of the experiment 15
3. select calib points m x Command Window O ax run a New to MATLAB Watch this Video see Demos or read Getting Started x 6 7 NER RR E E E 0 Program was launched run e 5 5 2012 11 24 06 You are using Linux Unix 0S j X 5 5 2012 11 25 27 Details fx rum Start Busy Figure 3 Selection of the experiment folder for the data to be saved to 7 Then the world coordinates of the point are entered using the MATLAB console Fig 8 File Edit Debug Parallel Desktop Window Help if amp X m5 ct mM Current Folder home kafkapre Dokumenty pto F im Shortcuts Z How to Add 2 What s New Current Folder eax Editor home Kkafkapre Dokumenty pto run m apa x Workspace WR CO x pto gt spa ODGE 4B 2 B MeH H HH StBi Bi stax e fx E IDE S8 Dex T m 5 Nb select datat D Name 8 cB 1 0 gt 1 1 x b9 0 2 100CANON 7 53 new experiment 8 Elfunction run E O soubory_inso_ulice 9 clc a synchronizace 10 disp ry a 3 trackery 11 disp transformace a vyber_ref bodu 13 disp 8 Look In pto lAl 2 D C MvI 8222 AVI 14 add paths L MVI 8223
4. the reference system expects one of the log files created by the odometry system to be provided The steps to launch the robot odometry system are as follows L 2 3 Turn the robot on Log in using a ssh shell connection Launch the basic set of nodes by typing roslaunch nifti drivers launchers ugv launch Verity the logging of the odometry data is enabled by checking the ap propriate value in the nifti vision inso launch inso launch file Make sure the logging into the vpa file is enabled lt param name inso vpa value find inso logger inso vpa gt lt param name inso logging value true Launch the odometry system roslaunch inso inso lauch 6 Wait until the Calibration finished message appears before moving the robot Every time the odometry system inso is launched a new log file is created in the nifti vision inso logger folder for detailed description see the inso node documentation So instead of recording one long odometry track the user can divide the experiment into several shorter ones Before the tracked experiment is performed a set of calibration points must be recorded It is not necessary for the odometry system to run during the calibration sequence recording 2 4 The experiment Having at least 4 calibration points experiments may be performed A proven sequence of operations follows k 2 O 0 N C 10 11 Launch the ugv launch
5. 2 2 Tae CaNT O s ao ones E Se Runde Ree qe die e CIE ERG ORIS 2 3 The robot odometry system 24 Th expeiment osa ase Oe rd voe RUE amp doe ERR cs 3 The tracking software part 3 1 The software prerequisites and outputs 3 2 Step by step instructions 0 0 000088 1 Introduction The aim of the project was to design and create a video camera reference tracking system The system would determine position and heading of a mobile robot using image processing methods The specifications were e an easy to install camera setup e usable outdoor independent on light conditions e supporting the robot odometry system including synchronization All the specifications were fulfilled reaching localization accuracy 15 13 cm and heading accuracy 3 8 2 7 degrees the heading accuracy depends on the robot distance the position accuracy applies for the whole experiment area 2 The experiment 2 1 The experimental setup Before describing the experiment setup steps this is a necessary equipment list e video camera e stable tripod or equivalent camera support e measuring tape e paper sticks to mark a certain point on the ground e colored target will be described The robot must be equipped with a colored target Fig 1 or 2 or similar the color is arbitrary but unique in the scene Since the experiment will be recorded using a video camera probably not positioned directly abov
6. AVI f 3 100CANON MVI 8224 AVI 16 savePath uidi EEE DDO koukni co mis C MV1_8225 AVI i C3 soubory inso ulice MVI 8226 AVI m N EN d C3 synchronizace f run m C3 trackery C3 transformace vwyber ref bodu 23 END end 25 an questo e RS File Name home kafkapre Dokumenty pto new experiment Files of Type All Files OK Cancel E trackRobot m x synch vpa and track m x select calib points m x Command Window no ax PUR Ga New to MATLAB Watch this Video see Demos or read Getting Started x 6 7 ac ccc moe E ELO uU LI E 0 Program was launched run LsessusaesadscsemcesahahussauecaDendcsesscsdHueE DOE emu adu 5 5 2012 11 24 06 You are using Linux Unix 0S E X 5 5 2012 11 25 27 Details x run 4 Start Busy OVR Figure 4 Selection of the experiment folder for the data to be saved to The tracking process follows The user decides if he wants to create a new track or if an existing one will be loaded Fig 9 There is an option whether a simple 2D track shall be created or if an azimuth should be detected 9 G New to MATLAB Watch this Video see Demos or read Getting Started x You are using Linux Unix OS You have chosen home kafkapre Dokumenty pto new experiment x b d Lr Do you wath to load or create kalibrations points You are using Linux Unix OS You have chosen home kafkapre Dokumenty pto new experiment fx How many calibration points can
7. Navigate the robot to the initial position Launch the odometry system inso launch Wait for the calibration finished message to appear Start recording the video Do not move the camera when pushing the trigger Perform the experiment Stop recording the video Shut down the odometry system Repeat steps 2 7 as many times as desired Shut down the ugv launch Store all the new log files created in the robot nifti vision inso logger folder with the recorded videos for further processing Turn the robot off The result of an experiment should be e set of short videos with calibration points e World coordinates of the calibration points 6 e Videos of the experiments e Vpa log files from the odometry system If you do have these you can proceed to the next chapter 3 The tracking software part 3 1 The software prerequisites and outputs The tracking software expects you to have e several short videos containing the robot positioned on the calibration points e world coordinates of the calibration points e videos containing the experiments e the inso vpa csv file for each experiment It will load the calibration points its image and world coordinates track the robot movement during the experiments determine its path in the world coordinates and finally synchronize it with the robot internal odometry track provided in the vpa file In the end the software wil
8. e the robot ideal setup the target should be visible from any direction from a certain height above it recording from a second floor window has been found sufficient The video camera as mentioned before should be positioned as high as possible It must have the whole experiment scene in its view and must not be moved after the calibration points were recorded We recommend some heavy duty tripod Figure 1 A simple 2D tracking target 2 2 The calibration To transform the tracked image data into the world coordinates a set of at least 4 points must be recorded A short video several seconds NOT a photograph of the robot standing on each calibration point should be recorded World coordinates of the calibration points must be known thus some measuring tape paper and pencil is required It is suitable to create some solid marks at the experimental area to save some time IMPORTANT There must be at least 4 calibration points of which any 3 must not lay in a line for example a square fulfills this condition Having these 4 points other may be added to increase the homography transfor mation accuracy The calibration points should cover the whole experiment area 2 3 The robot odometry system The reference system can be used for other purposes but the original one is performance verification and tuning of the robot odometry system Also 4 d te B Figure 2 A 2D azimuth tracking target
9. l create an inso track file with time world coordinates and heading saved using a standard csv for mat with comma as a delimiter 3 2 Step by step instructions The user interface is implemented in the MathWorks MATLAB environment and uses GUI elements as well as the MATLAB console for entering text parameters To launch the software copy it into a desired folder in your MATLAB file structure and set the active MATLAB path to the folder con taining the run the tracker m file Then type run the tracker and the software will start A GUI window will appear Fig 4 asking the user to select a working folder for the tracked experiments It is possible to create a new one if needed or to select one to continue working in an existing one This folder serves as place to save intermediate results calibration data common for the entire experiment or tracked paths Subsequently the user is asked whether he wants to perform a new cali bration creating point pairs for homography transformation or to load an existing one Fig 5 In the case of the new calibration the user enters a number of calibration points he can provide Fig 6 which is at least 4 The order of the calibration pairs entered is arbitrary The creation of a calibra tion pair is following The user selects a video file with the robot positioned on the calibration point and one frame from the video appears The cursor becomes a cross and the user marks
10. many calibration points can you provide 4 Chose video which you want to calibrate video loading What is the X coordinate m of this point 7 fx What is the Y coordinate m of this point 7 Figure 8 Corresponding world coordinates of the calibration point 11 tracking You are using Linux Unix OS You have chosen home kafkap Calibration points were loade dead create cancel kalibrace mat Figure 9 Creating a new track or loading an existing one You are using Linux Unix 0S You have chosen home kafk ar Calibration points were loade Figure 10 2D track or 2D track with azimuth option 12 Window 44 File Edit View Insert Tools Desktop Window Help ajoldngsas ragodeA 8 DE Ww gt Editor 111 Command eso gt Figure 11 Target selection pa f s Figure 12 The target can be zoomed to to make the selection easier 13 desktop Window fie Edit view File Edit View Insert Tools Desktop Window Help rigjoldnsasfjocas rasooe s 0E 20 IJ amp nat s New a x 7 Editor 7 Workspace e DGE E ril M N File Edit View Insert Tools Desktop Window Help Deda rjANSOERA a DH 20 aS o WII tis frame 00166 position x 152 0 y 343 8 frame 00131 frame 00126 frame 00136 Figure 13 The tracking process File Edit View Insert Tools Desktop Window Help OGM8 s 828 98 4 8 08 a0 Originalni track
11. the center of the colored marker Fig 8 SCV File Edit Debug DGRA Shortcuts 2 How to Add Current Folder Parallel Desktop Window Help r g Current Folder home kafkapre Dokumenty pto Hi amp 2 What s New ema x Editor home kafkapre Dokumenty pto run m Da x Workspace e PR Ne B pto gt plate DGE 4eOB X SB Alan AL BAA BA stack fs Eaei ex fa m fs Sa Select datat Name BE 2o 11 x 6 0 value amp 100CANON c new experiment amp soubory inso ulice synchronizace MG trackery MaE disp 9 a transformace whberrefbodu B sph 4 Look In fe pto a l E C MV1 8222 AVI 14 add paths L MVI 8223 AVI E 3 100CANON L MVI 8224 AVI 16 savePath uid DETEETTERIENI DDO koukni co mis L MVI 8225 AVI a _ soubory inso ulice L MVI 8226 AVI i if savePath lo synchronizace S run m C3 trackery C3 transformace C3 whber ref bodu File Name home kafkapre Dokumenty pto new experiment 28 trackingRes Files of Type All Files 29 calibPoints 31 CALIBRAT Ok came 32 if strempl s calibPoints load_calibration unm x trackRobot m x synch_vpa_and_track m x
12. you provide Figure 6 The user enters the number of the calibration points he can provide requires the special colored target during the experiment Fig 10 T he tracking is similar for both choices the user marks the whole colored target or two colored regions in the case of an azimuth tracking Fig 11 and 12 Because the target will be probably small compared to the entire scene the user can zoom to the target before the selection The selection is confirmed by a double click After the tracking process Fig 13 finishes the resulting plot is shown in the picture as well as in the world coordinates Fig 14 and 15 The result is synchronized with the robot odometry system by selecting the appropri ate inso vpa csv file and following the GUI message instructions The synchronization needs the beginning and the end of the experiment to be marked in the tracked data as well as in the odometry data Fig 16 When done a inso track csv file is created in the experiment folder containing the resulting reference data 10 Command Window DO ax File Edit View Insert Tools Desktop Window Help Scl WHes kj amp eevoBz alnus wu WENN FU Choose point 1 D ta Figure 7 Marking a new calibration point omman ndow a x G New to MATLAB Watch this Video see Demos or read Getting Started x You are using Linux Unix 0S You have chosen home kafkapre Dokumenty pto new experiment How
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