Masterpraktikum - 3D Laser Scanning and Calibration with Robot Arms (IN2106, IN4253)
Course 0000002069 in SS 2019
General Data
| Course Type | practical training |
|---|---|
| Semester Weekly Hours | 6 SWS |
| Organisational Unit | Informatics 6 - Chair of Robotics, Artificial Intelligence and Real-time Systems (Prof. Knoll) |
| Lecturers |
Alexander Lenz Arne Peters Responsible/Coordination: Alois Christian Knoll |
| Dates |
Assignment to Modules
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IN2106: Master-Praktikum / Advanced Practical Course
This module is included in the following catalogs:- Further Modules from Other Disciplines
Further Information
Courses are together with exams the building blocks for modules. Please keep in mind that information on the contents, learning outcomes and, especially examination conditions are given on the module level only – see section "Assignment to Modules" above.
| additional remarks | IMPORTANT: A pre-course meeting will be held on Wednesday the 30th of January at 11:00h in room 03.07.011 in the Mathematics and Informatics Building, where additional information is supplied and where I am available for your questions! >> The slides of the pre-course meeting can be found at https://syncandshare.lrz.de/dl/fiVn3KtJRExne5QunFKUzM22 If you are interested in joining this practical course please use the matching system. In addition, it would be useful if you sent me an email (arne.peters@tum.de) with the following content : • Subject: 3D Laser Scanning Labcourse • Content: short paragraph on motivation and your background (e.g. bachelor's degree) and other experiences. _____________________ Many tasks in robotics like mapping, grasp- and path planning require 3D information of a robot's environment. To successfully utilize sensor data the sensor needs to be intrinsically calibrated and we need its exact position in relation to the robot's coordinate frame (extrinsic calibration). In this course we will work with a 2d laser rangefinder attached to the end effector of KUKA LBR iiwa robot arm. The goal is to implement a sensor fusion system, that records depth measurements while moving the robot and fuses them into a 3D point cloud. The course will be split in three major sections: In the first weeks you will get an instruction about the robot and basic ROS programming. After this you can freely access the lab to work on your software. Finally we will create a benchmark of all implemented calibration procedures for different laser range finders. |
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| Links |
E-Learning course (e. g. Moodle) TUMonline entry |