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RobotDesigner
Zen and the art of robot design
In order to be able to build useful maps for navigation and object recognition the system first needs to know a few things about the robot to which the cameras are attached. The basic dimensions of the robot, position of the head where the stereo cameras are fixed and total mass are all needed so that occupancy grids can be updated correctly, and so that short term predictions of the robots position and orientation - and therefore its localisation uncertainty - may be made. Design Tips
Get with the ProgramRun the Robot Designer program and enter the details. From the File menu you may also import camera calibration data to complete the inventory of settings needed to run Sentience. When you're finished select Save As from the File menu and save the robot design file. The file will look something like this:
<?xml version="1.0" encoding="ISO-8859-1"?>
<!--Sentience 3D Perception System-->
<Sentience>
<Robot>
<!--Name-->
<Name>My Robot</Name>
<!--Total mass in kilograms-->
<TotalMassKilograms>1</TotalMassKilograms>
<BodyDimensions>
<!--Shape of the body-->
<!--0 - square-->
<!--1 - round-->
<BodyShape>0</BodyShape>
<!--Width of the body in millimetres-->
<BodyWidthMillimetres>200</BodyWidthMillimetres>
<!--Length of the body in millimetres-->
<BodyLengthMillimetres>200</BodyLengthMillimetres>
<!--Height of the body in millimetres-->
<BodyHeightMillimetres>80</BodyHeightMillimetres>
</BodyDimensions>
<PropulsionSystem>
<!--Propulsion type-->
<PropulsionType>0</PropulsionType>
<!--Distance between the wheels in millimetres-->
<WheelBaseMillimetres>175</WheelBaseMillimetres>
<!--How far from the front of the robot is the wheel base in millimetres-->
<WheelBaseForwardMillimetres>25</WheelBaseForwardMillimetres>
<!--Wheel diameter in millimetres-->
<WheelDiameterMillimetres>70</WheelDiameterMillimetres>
<!--Wheel Position feedback type-->
<WheelPositionFeedbackType>0</WheelPositionFeedbackType>
<!--Motor gear ratio-->
<GearRatio>54</GearRatio>
<!--Encoder counts per revolution-->
<CountsPerRev>32</CountsPerRev>
<!--Motor no load speed in RPM-->
<MotorNoLoadSpeedRPM>175</MotorNoLoadSpeedRPM>
<!--Motor torque rating in Kg/mm-->
<MotorTorqueKgMm>80</MotorTorqueKgMm>
</PropulsionSystem>
<SensorPlatform>
<!--Number of stereo cameras-->
<NoOfStereoCameras>1</NoOfStereoCameras>
<!--The type of head-->
<HeadType>0</HeadType>
<!--Size of the head in millimetres-->
<HeadSizeMillimetres>50</HeadSizeMillimetres>
<!--Shape of the head-->
<HeadShape>0</HeadShape>
<!--Offset of the head from the leftmost side of the robot in millimetres-->
<HeadPositionLeftMillimetres>100</HeadPositionLeftMillimetres>
<!--Offset of the head from the front of the robot in millimetres-->
<HeadPositionForwardMillimetres>120</HeadPositionForwardMillimetres>
<!--Height of the head above the ground in millimetres-->
<HeadHeightMillimetres>1000</HeadHeightMillimetres>
<!--Orientation of the cameras-->
<CameraOrientation>0</CameraOrientation>
<StereoCamera>
<!--Name of the WDM software driver for the cameras-->
<DriverName>Creative WebCam NX Ultra</DriverName>
<!--Position and orientation of the camera relative to the robots head-->
<PositionOrientation>
<!--Position in millimetres-->
<PositionMillimetres>0,0,0</PositionMillimetres>
<!--Orientation in degrees - pan, tilt and roll-->
<OrientationDegrees>0,0,-45</OrientationDegrees>
</PositionOrientation>
<!--Focal length in millimetres-->
<FocalLengthMillimetres>5</FocalLengthMillimetres>
<!--Camera baseline distance in millimetres-->
<BaselineMillimetres>100</BaselineMillimetres>
<!--Calibration Data-->
<Calibration>
<!--Image offsets in pixels due to small missalignment from parallel-->
<Offsets>23.21169,-1</Offsets>
<Camera>
<!--Horizontal field of view of the camera in degrees-->
<FieldOfViewDegrees>78</FieldOfViewDegrees>
<!--Image dimensions in pixels-->
<ImageDimensions>320,240</ImageDimensions>
<!--The centre of distortion in pixels-->
<CentreOfDistortion>157,112</CentreOfDistortion>
<!--Polynomial coefficients used to describe the camera lens distortion-->
<DistortionCoefficients>0,1.231268,0.0002229516</DistortionCoefficients>
<!--Scaling factor-->
<Scale>0.8125</Scale>
<!--Rotation of the image in degrees-->
<RotationDegrees>-0.3941584</RotationDegrees>
<!--The minimum RMS error between the distortion curve and plotted points-->
<RMSerror>3.328376</RMSerror>
</Camera>
<Camera>
<!--Horizontal field of view of the camera in degrees-->
<FieldOfViewDegrees>78</FieldOfViewDegrees>
<!--Image dimensions in pixels-->
<ImageDimensions>320,240</ImageDimensions>
<!--The centre of distortion in pixels-->
<CentreOfDistortion>155,113</CentreOfDistortion>
<!--Polynomial coefficients used to describe the camera lens distortion-->
<DistortionCoefficients>0,1.15394,0.0006436906</DistortionCoefficients>
<!--Scaling factor-->
<Scale>0.8125</Scale>
<!--Rotation of the image in degrees-->
<RotationDegrees>-0.6620849</RotationDegrees>
<!--The minimum RMS error between the distortion curve and plotted points-->
<RMSerror>3.4475</RMSerror>
</Camera>
</Calibration>
</StereoCamera>
<InverseSensorModels>
<!--Interval between models in pixels-->
<SensorModelInterval>0.5</SensorModelInterval>
<!--Model Data-->
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</SensorPlatform>
<!--Inverse sensor model data-->
<OccupancyGrid>
<!--The number of scales used within the local grid-->
<LocalGridLevels>1</LocalGridLevels>
<!--Dimension of the local grid in the XY plane in cells-->
<LocalGridDimension>248</LocalGridDimension>
<!--Dimension of the local grid in the vertical (Z) plane in cells-->
<LocalGridDimensionVertical>100</LocalGridDimensionVertical>
<!--Size of each grid cell (voxel) in millimetres-->
<LocalGridCellSizeMillimetres>32</LocalGridCellSizeMillimetres>
<!--The distance which the robot must travel before new data is inserted into the grid during mapping-->
<LocalGridIntervalMillimetres>50</LocalGridIntervalMillimetres>
<!--An extra radius applied when localising within the grid, to make localisation rays wider-->
<LocalGridLocalisationRadiusMillimetres>100</LocalGridLocalisationRadiusMillimetres>
<!--When updating the grid map this is the maximum range within which cells will be updated-->
<!--This prevents the system from being slowed down by the insertion of a lot of very long range rays-->
<LocalGridMappingRangeMillimetres>2000</LocalGridMappingRangeMillimetres>
</OccupancyGrid>
<MotionModel>
<!--The number of possible poses to maintain at any point in time-->
<NoOfPoses>50</NoOfPoses>
<!--A culling threshold in the range 1-100 below which low probability poses are exterminated-->
<CullThreshold>80</CullThreshold>
<!--The number of time steps after which a pose is considered to be mature-->
<MaturationTimeSteps>3</MaturationTimeSteps>
<!--Motion noise (standard deviations)-->
<MotionNoise>0.08,0.08,0.00025,0.00025,5E-05,5E-05</MotionNoise>
</MotionModel>
</Robot>
</Sentience>
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