Robot Eksperimentarium 2006

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Denne side indeholder diverse informationer som er interessante i forbindelse med kurset "Robot Eksperimentarium", 2006.
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This page contains various informations that are relevant to participants of the course "Robot Eksperimentarium", 2006.
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= Vejledninger =
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= CLEAN UP !!! =
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* Hvis man tager noget ud af et skab skal man stille det tilbage i samme skab.
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= Eksamen =
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= Tips and Tricks: Share your hard earned knowledge =
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[[Robot Eksperimentarium: Tips_Exercise_2|Tips & Tricks : Exercise 2]]<br>
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[[Robot Eksperimentarium: Tips_Exercise_3|Tips & Tricks : Exercise 3]]<br>
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[[Robot Eksperimentarium: Tips_Exercise_4_&_5|Tips & Tricks : Exercise 4 & 5]]
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The [http://isis.ku.dk/kurser/index.aspx?kursusid=25102&xslt=simple6&param1=119186&param8=false&param6=119186luk ISIS discussion forum] can be used for posting questions.
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= Students following the course, 7/9/06 =
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Here is a page showing the [[students following the course]].
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= Exercises =
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The exercises for the course can be found in [[Robotopgaver 2006]] (previously [[Robot Eksperimentarium 2006: ?velser|here]]) (in Danish).
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= The Robots =
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This year we'll be using the newly purchased [[The Scorpion robots|Evolution Scorpion Robots]]. For controlling the robot hardware we'll be using [[ERSP]], and for image processesing we'll be using [[OpenCV]].
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To use the robot you'll need access to a computer with [[ERSP]] installed. We have 7 such laptops that can be borrowed for a day. To reserve a laptop you need to fill in your name on the reservation forms that can be found in the Image lab. A laptop should always be turned in the next day between 9:15 and 9:40 (except on weekends), and laptops will be handed out to the next person in line between 9:40 and 10:00. '''You must respect this system! Otherwise we might not let you borrow a laptop again!'''
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= Groups =
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To keep track of which students are working together, we have [[Robot Eksperimentarium 2006: Groups|this list of groups]]. Please make sure that you're in the right group.
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= Tutorials =
== The SVN Repository ==
== The SVN Repository ==
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== Subversion Server for the SLAM project ==
 
There is a subversion repository for the course. Since you can't be garantied to work on the same laptop twice it is recommended to use the SVN repository to keep track of your code.
There is a subversion repository for the course. Since you can't be garantied to work on the same laptop twice it is recommended to use the SVN repository to keep track of your code.
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To use the repository you need an account on ''image.diku.dk''
To work with the code, the first only first time you must make a local copy on your local account via the checkout command:
To work with the code, the first only first time you must make a local copy on your local account via the checkout command:
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  <code>svn checkout svn+ssh://yourLogin@image.diku.dk/home/robot/svn/trunk/ Robot/</code>
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  <code>svn checkout svn+ssh://yourLogin@image.diku.dk/home/robot/svn/trunk/ Robot-GROUP_NUMBER/</code>
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Where ''GROUP_NUMBER'' is the number of your group. You might need to enter your password several times.
Please note that you need external access, so from the DIKU UNIX system, you need to work on tyr, ask, etc..
Please note that you need external access, so from the DIKU UNIX system, you need to work on tyr, ask, etc..
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This should creat a local directory called ''Robot/'' on your local account containing the trunk of the repository.  Later revisions can be obtained by,
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This should creat a local directory called ''Robot-GROUP_NUMBER/'' on your local account containing the trunk of the repository.  Later revisions can be obtained by,
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  <code>cd Robot/</code>
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  <code>cd Robot-GROUP_NUMBER/</code>
  <code>svn update</code>
  <code>svn update</code>
To write to the repository simply use
To write to the repository simply use
  <code>svn commit -m "My short description of what I did for the record"</code>
  <code>svn commit -m "My short description of what I did for the record"</code>
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It is a good idea to setup your ssh-keys for your image.diku.dk account, such that you don't have to write your password constantly.
 
The work recommended workprocess is:
The work recommended workprocess is:
  Before you start the days work do:
  Before you start the days work do:
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   <code>cd slam/</code>
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   <code>cd Robot-GROUP_NUMBER/</code>
   <code>svn update</code>
   <code>svn update</code>
  Make your editing and once in a while and definitely when your are done do:
  Make your editing and once in a while and definitely when your are done do:
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   <code>svn commit -m "My short description of what I did for the record"</code>
   <code>svn commit -m "My short description of what I did for the record"</code>
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More information on subversion may be found on [http://svnbook.red-bean.com/] and [http:subversion.tigris.org]
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If you need access to your files, but don't have a SVN client installed, you can use the web frontend at [http://image.diku.dk/svn/robot/ http://image.diku.dk/svn/robot/].
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More information on subversion may be found on [http://svnbook.red-bean.com/ http://svnbook.red-bean.com/] and [http://subversion.tigris.org http://subversion.tigris.org].
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== ERSP ==
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The robotics platform used on the course is called ERSP (Evolution Robotics Software Platform, I think). You can find a short tutorial on how the platform works [[ERSP|here]].
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== OpenCV ==
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For image processesing we use the OpenCV library. You can find a short tutorial on OpenCV [[OpenCV|here]].
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== The Robot Camera ==
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The robots use a Logitech Quickcam Pro 3000 webcam to acquire images. The internal parameters of this camera can be changed since it uses the [[Philips webcam|''pwc'' driver]].
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The camera has been calibrated to compensate for the Barrel distortion. See [[Kalibrering af Scorpion robotternes kamera]] (in Danish).
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== Object tracking ==
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If you need to track an objects position in an image sequence, you can use the [[Two Stage Hybrid Tracker]].

Latest revision as of 09:50, 24 August 2007

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