Autonomous Robot Project

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winter 03/04

the final robby look
futureLab Robby - navigation by stereo vision

The Idea

The goal of this project was to build a prototype of a robot that navigates through stereo vision. Existing systems are usually expensive since e.g. high-quality cameras are being used. In this project, the potential of low-cost components in stereo vision was evaluated. The robot in its final version is able to do collision avoidance by stereo vision. For that purpose it does a 3D reconstruction of its local environment, classifies the region and performs a path planning to a location close by. For recharging the robot approaches a light colored pole with a recharge station attached.
This project provided a great unification of mechanics, electronics, software development and math and was therefor a great opportunity for a young engineer.
The work was done at futureLab AG in Winterthur, Switzerland, and took five months to complete.

Building a prototype platform

first driving version of robby  first version of robbz

The first driving version of the robby. On the left picture the ATX mainbord is visible with the WLAN PCMCIA adaptor attached. Some obvious design flaws were corrected soon.


constructing the prototype  constructing the robby

Construction of a well-aligned camera support. The alignment reached a good accuracy. The cameras (iSight from Apple) showed an internal mechanical misalignment though that made these efforts obsolete to a certain degree.

constructing the robby  calibration poster for cameras

Left: The camera support modules made from Delrin, a synthetic material well suited for mechanical constructions.
Right: A first calibration poster for the stereo camera pair made substantial optical distortions visible. They were corrected to a good part in software.


robby parts   an engineer's playground 

An engineer's playground...