Openni/Contests/ROS 3D. Openni/Contests/ROS 3D/Autonomous corridor flight of a UAV using the Kinect sensor. Autonomous corridor flight of a UAV Description: Autonomous corridor flight of a UAV using the Kinect sensor. Submitted By: Chair of Automation Technology at the Chemnitz University of Technology Keywords: UAV, quadrotor, kinect Overview Autonomous corridor following is performed using the Kinect sensor, the point cloud library (PCL) and ROS in combination with our own velocity, position and altitude controllers.
All processing is done onboard on a Atom processor board, no further external sensors are used. The 3D point cloud from the Kinect sensor is pre-processed, downsampled and searched for planes. Altitude control is realized separately using a SRF 10 ultrasonic rangefinder. Obstacle avoidance is also included but the algorithm is still under development and partially untested. Video How to Reproduce Your Entry Code to Checkout SVN Repository Dependencies The following ROS stacks and packages are required: Build the package. Openni/Contests/ROS 3D/Minority Report Interface. Minority Report Interface Description: A minority report-like interface that lets you drag around photos Submitted By: Garratt Gallagher Keywords: Minority Report Video How to Reproduce Your Entry Physical Setup This works best with a projector, but any monitor will do.
Code to Checkout First you have to check out and compile the mit-ros-pkg repository. Running the Code This demo uses the finger detector. Roslaunch hand_interaction detectfingers.launch The launch the gui: rosrun kgui calgui Now check the boxes 'online mode' and 'hand in' *For tips on how to use this interface, see Minority Report Demo Nodes Involved Dependencies ni pcl hand_interaction. Openni/Contests/ROS 3D/Follower Robot. Openni/Contests/ROS 3D/Kinemmings.
Kinemmings Description: Fun interactive game based on the famous old game Lemmings. Your body is the controller. Submitted By: Alberto Jose Ramirez Valadez, Jonathan Rafael Patino Lopez and Marcel Stockli Contreras. Keywords: lemmings, kinect, game, body silhouette Game Kinemmings. A multi-level platform game where the goal is to get little autonomous robots called kinemmings to the exit. Video How to Reproduce Your Entry Physical Setup The only thing that you need is a Kinect and your body.
Code to Checkout Install cturtle base or diamondback full (may also work on other diamondback installations) Install kinect_camera package Install the opencv2 package (Installing the kinect package ought to give you both of those last two.) For cturtle users: sudo apt-get install ros-cturtle-kinect Running the Code Now you're ready to play! The game uses the open kinect driver. Save those kinemmings! Dependencies. Openni/Contests/ROS 3D/Skeleton Tracker Teleoperation Package for Mobile Robot.
Openni/Contests/ROS 3D/Hand Detector. Openni/Contests/ROS 3D/RGBD-6D-SLAM. Description: The Kinect is used to generate a colored 3D model of an object or a complete room. Submitted By: Felix Endres, Juergen Hess, Nikolas Engelhard, Juergen Sturm, Daniel Kuhner, Philipp Ruchti, Wolfram Burgard Keywords: RGBD-SLAM, 3D-SURF, Feature Matching, RANSAC, Graph SLAM, Model Generation, Real-time This page describes the software package that we submitted for the ROS 3D challenge. The current RGBD-SLAM package is located here. Summary We developed a novel method to quickly acquire colored 3D models of objects and indoor scenes with a hand-held Kinect camera.
Video In the video we show the generation of a model of our PR2 and a 360° "panorama" of the students lab. Data As a sample for building 3D object models, here is an example of a box and a mug. The scene has been captured with several snapshots instead of a continuous run, to reduce the size of the resulting file. The pcd file is viewable with the pcd viewer (rosrun pcl_visualization pcd_viewer -ax 0.1 <file>). 1. 2. 3. 4. Mit-ros-pkg/KinectDemos. This page describes how to set up your system to run the kinect demos found in the mit-ros-pkg repository Kinect demos that you might want to check out include: General Installation All of the MIT kinect demo software shares a base installation procedure. To run one of these demos, please follow these General Installation instructions, and then follow the directions specific to the demo you wish to run. Software Setup These instructions assume you are running Ubuntu, preferably 10.04. If you are brave, and want to use this on another operating system, instructions will be pointed to after you select a distribution: The Kinect demos can be installed with the following versions of ROS: click on a turtle to see the appropriate install instructions.
Hardware Setup You will need a kinect for these demos. Specific Installation and Execution If you followed the optional 'install all demos' in the distribution-specific instructions, you are done with the installation. Hand Detection Installation Execution. Mit-ros-pkg/KinectDemos/dback.