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Secretary
Institute for Anthropomatics and Robotics; High Performance Humanoid Technologies, Chair Prof. Asfour
Adenauerring 2, Building 50.20
76131 Karlsruhe

Phone: +49 721 608-48277

Email: sekretariatZrm5∂humanoids kit edu

Robotics III - Sensors in Robotics

Robotics III - Sensors in Robotics
type: Vorlesung (V)
semester: SS 2018
time: 2018-04-26
17:30 - 19:00 wöchentlich
50.34 Raum -102 50.34 INFORMATIK, Kollegiengebäude am Fasanengarten
weitere...

lecturer: Markus Grotz
Prof. Dr.-Ing. Tamim Asfour
sws: 2
lv-no.: 2400067
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.