| Notes | Die Vorlesung kann im Rahmen der Vertiefungsfächer des Informatik Hauptstudiums bzw. gemäß Modulhandbuch abgeprüft werden. Die Anmeldung zur Prüfung kann im Sekretariat Prof. Asfour Raum 029, Geb. 50.20 (Adenauerring 2) von 10.00 h bis 12.00 h oder per E-Mail sekretariat.asfour@anthropomatik.kit.edu erfolgen. |
| Prerequisites | Empfehlungen: Der vorherige Besuch der Robotik-I-Vorlesung ist nützlich jedoch nicht erforderlich. |
| Bibliography | The student has to understand the principles of sensors that are essential and common in robotics. The student has to understand the data flow, starting from the physical measurement, over digitization, application of the sensor model to image processing, feature extraction and the integration of the information in an environment model. The student has to be able to propose suitable sensor concepts for simple tasks and to justify them. |
| Content of teaching | The lecture Robotics III complements the lecture Robotics I with a broad overview over sensors used in robotics and the interpretation of their data. One focus of the lecture is on the topic of computer vision, which is being dealt with from data acquisition, over calibration to object recognition and localization. Sensors are important subcomponents of control circuits and enable robots to perform their tasks safely. Furthermore, sensors serve to capture the environment as well as dynamical processes and actions in the surroundings of the robots. The topics that are addressed in the lecture, are as follows: Sensor technology for a whole taxonomy of sensor systems (including image and 3D sensors), sensor modeling (including color calibration and hdr imaging), theory and practice of digital signal processing, machine vision, multi-sensor integration and fusion. Among others, sensor systems such as relative position sensors (optical encoders, potentiometer), velocity sensors (encoder, tachometer), acceleration sensors (piezo-resistive, piezo-electric, optical and others), inertial sensors (gyroscope, gravitometer and others), tactile sensors (foil sensors, pressure sensitive materials and others), proximity sensors, distance sensors (ultrasonic, laser, time-of-flight, interferometry, structured light, stereo camera systems and others), image sensors (photodiode, CCD and others), absolute position sensors (GPS, fiducial markers). Laser sensors as well as image sensors are dealt with priority. |
| Entryrequirements | Je nach Studienordnung des entsprechenden Studiengangs. |
| Annotation | Modul für Master Maschinenbau, Mechatronik und Informationstechnik, Elektrotechnik und Informationstechnik |
| Workload | 80h |
| Target audience | Die Vorlesung richtet sich an Studierende der Informatik, der Elektrotechnik und des Maschinenbaus sowie an alle Interessenten an der Robotik. |
| Aim | The student has to understand the principles of sensors that are essential and common in robotics. The student has to understand the data flow, starting from the physical measurement, over digitization, application of the sensor model to image processing, feature extraction and the integration of the information in an environment model. The student has to be able to propose suitable sensor concepts for simple tasks and to justify them. |
Robotics III - Sensors in Robotics
| type: | Vorlesung (V) | ||
|---|---|---|---|
| semester: | SS 2019 | ||
| time: | 2019-04-25 |
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| lecturer: | |||
| sws: | 2 | ||
| lv-no.: | 2400067 | ||
