University of Twente Student Theses


Building a virtual world in ROS based on the robot's perception

Sun, Aiwu (2019) Building a virtual world in ROS based on the robot's perception.

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Abstract:A joint innovation centre called “i-Botics” has been founded by TNO and University of Twente. The community aims at creating Robotic solutions to face different needs. One of their research lines is telerobotics which is concerned with remote controlled robots in which telepresence and teleoperations is combined. By developing telerobotics, some complex tasks like the discovery and exploration of harsh environments for human operator in celestial and underseas structures can be performed. In the designs for teleoperated robots, multiple sensors are used to monitor the outer environment then process the information and reflect to the operator so the human intelligence still affects the activities while human access is difficult. This project focuses on represent the sensory information well and allow users to explore into the virtual environment. One way to promote the visualization based on robot's perception is to render a virtual world in Virtual Reality engine, not only to provide a complete 3D view, but also to build a changeable environment for training rescue activities and urban searching. By using ROS (Robot Operating System) and SLAM, point-cloud data is transferred into the virtual environment through alternative platforms such as Unity3D, Unreal Engine 4 and Cocos3D. System should also work as simulators that help human operators to practice and improve skills. The main research question in this project is: "How to do 3D object recognition and visualization with point cloud?"
Item Type:Essay (Bachelor)
i-Botics, Enschede, Netherlands
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology, 54 computer science
Programme:Creative Technology BSc (50447)
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