The course provides the basic elements of two of the pillars of Industry 4.0: Mobile Robotics and Mixed Reality using concepts of both measurement (Perception) and planning / control (Action). As for mobile robotics, the theoretical bases of the methods of localization, kinematics, planning and control of the path with robotic vehicles As for the Mixed Reality, the technological and cognitive bases are illustrated together with the main software tools (Unity) and hardware ( different sensors such as time-flight, electromyographic, physiological cameras, eye trackers, etc.).
Rules: if you reached the goal to estimate two scan matching and relative pose estimation with Ransac and SVD and are able to discuss at the oral of the exam +1 point @ the final grade if you reach the…
Please visit this link to access to some general purpose books and notes. Let me highlight the invaluable booklet written by Luca Baglivo and other colleagues from Mechatronics Department at UNITN that is a real compendium of 2/3 of the…
Here the slides Here the data Here an outline manual to follow to do the exercises at home
Interactive lesson – Alessandro Assirelli Program 1. Introduction to optimal control and how can we solve it 2.CasADi (click here: intro_casadi) 3. Trajectory optimization 4. MPC (click here: Main_OCP) YOU CAN DOWNLOAD ALL THE MATLAB CODES HERE
Interasti lesson – Matteo Dalle Vedove For the material click on: SVD_estimation
USER EXPERIENCE: An interactive Augmented Reality demo on loaded pallet shape measurement and checking by three simulated Time-of-Flight cameras will be provided to the user wearing a HoloLens 2 head-mounted display. After the pallet enters the scanning area, the point…
In this work, we address the problem of estimating the 6DoF pose of objects in 2D equirectangular images. This challenge allows the transition to the objects’ 3D model from their current pose. In particular, it finds application in the educational…
GOAL A shared Augmented Reality Demo for the daily activity of setting up a table where both a therapist and a patient can interact with visual cues superimposed on the real environment to assess and train the patient performances in…
Please visit this link to access to some general purpose books and notes. Let me highlight the invaluable booklet written by Luca Baglivo and other colleagues from Mechatronics Department at UNITN that is a real compendium of 2/3 of the…
You can use the SLAM toolbox of matlab but also use the Singular Value Decomposition that we are going to see in the course, at least to estimate incrementally the motion between two scans Balyo DATA