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ROS and Stereovision Collaborative System

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Optoelectronic Devices in Robotic Systems

Abstract

In this chapter, a collaborative work between stereo and a laser scanning system is presented in order to obtain an enriched matrix of rectangular coordinates of elements in a scene using SAD for stereovision and real-time dynamic triangulation in ROS as processing algorithms. Dense data volume and precise depth estimation are the complementary parameters for enrichment and the main reasons for taking these systems to work together on applications as robot navigation, structural health, and body scanning. This combination improves weak points of each separate system, thanks to the use of output data of each technique for calibration and control of the other technique, making it redundant when data confirmation is required and increasing of data volume. Systems link is done through ROIs and known relative position between cameras and ROS positioner and aperture, achieving a collaborative work even when there is displacement. For future work, sensors comparison and motor control optimization is expected for scanning time reduction.

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Abbreviations

CCD:

Charge-coupled device

CMOS:

Complementary metal-oxide-semiconductor

DC:

Direct current

DLT:

Direct linear transformation

FOV:

Field of view

FPGA:

Field-programmable gate array

NCC:

Normalized cross-correlation

RADAR:

Radio detection and ranging

ROI:

Region of interest

ROS:

Rotational optical scanner

SAD:

Sum of absolute differences

SONAR:

Sound navigation and ranging

SSD:

Sum of squared differences

TOF:

Time of flight

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Acknowledgments

Authors have special thanks to Mexican organization CONACyT for funding of PhD students participating as co-authors of this chapter, as well as our universities who provide our group with facilities, laboratory and equipment for herein presented research.

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Authors and Affiliations

  1. Autonomous University of Baja California, Mexicali, Mexico

    Ruben Alaniz-Plata, Oleg Sergiyenko, Wendy Flores-Fuentes, Julio Cesar Rodríguez-Quiñonez, Cesar Antonio Sepúlveda-Valdez & Humberto Andrade-Collazo

  2. Polytechnic University of Baja California, Mexicali, Mexico

    Vera V. (Vira) Tyrsa

  3. Leuphana University of Lueneburg, Lüneburg, Germany

    Paolo Mercorelli

  4. Fraunhofer Institute for Energy Economics and Energy System Technology IEE, Kassel, Germany

    Lars Lindner

Authors
  1. Ruben Alaniz-Plata
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  2. Oleg Sergiyenko
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  3. Wendy Flores-Fuentes
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  4. Vera V. (Vira) Tyrsa
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  5. Julio Cesar Rodríguez-Quiñonez
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  8. Paolo Mercorelli
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  9. Lars Lindner
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Correspondence to Ruben Alaniz-Plata .

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Editors and Affiliations

  1. Universidad Autónoma de Baja California, Mexicali, Baja California, Mexico

    Oleg Sergiyenko

Appendices

Appendix A

Code used to send stepper motors’ sequence usable for Arduino. This code considers a serial input with format “DX SY,” where D is a symbolic reference to the direction where Y can take a value from 1 to 4, being 1–2 both directions of one stepper motor (horizontal for ROS) and 3–4 for the second stepper motor (vertical for ROS). S refers to the number of steps Y.

#define m1_1 22 #define m1_2 23 #define m1_3 24 #define m1_4 25 #define m2_1 26 #define m2_2 27 #define m2_3 28 #define m2_4 29 int dir = 0, lastdirH = 0, lastdirV = 0, steps = 0, binH = 1, binV = 1; bool enc = false; float vMotor = 0; void setup() { pinMode(m1_1,OUTPUT); pinMode(m1_2,OUTPUT); pinMode(m1_3,OUTPUT); pinMode(m1_4,OUTPUT); pinMode(m2_1,OUTPUT); pinMode(m2_2,OUTPUT); pinMode(m2_3,OUTPUT); pinMode(m2_4,OUTPUT); digitalWrite(m1_1,0); digitalWrite(m1_2,0); digitalWrite(m1_3,0); digitalWrite(m1_4,0); digitalWrite(m2_1,0); digitalWrite(m2_2,0); digitalWrite(m2_3,0); digitalWrite(m2_4,0); Serial.begin(9600); } void loop(){ if (Serial.available() > 0){ String dataSt = Serial.readString(); int str_len = dataSt.length() + 1; char data[str_len]; dataSt.toCharArray(data, str_len); sscanf(data,"D%d S%d",&dir,&steps); if (lastdirH == 0 && dir < 3){ lastdirH = dir; } if (lastdirV == 0 && dir > 2){ lastdirV = dir; } if (dir == 1 || dir == 2){ if (lastdirH != dir){ binH = -(binH-5); lastdirH = dir; } } if (dir == 3 || dir == 4){ if (lastdirV != dir){ binV = -(binV-5); lastdirV = dir; } } int i = 0; for (i = 1;i <= steps;i++){ delay(500); if(dir == 2 || dir == 4){ if (dir == 2){digitalWrite(m1_1+binH-1,0);} if (dir == 4){digitalWrite(m2_1+binV-1,0);} } if(dir == 1 || dir == 3){ if (dir == 1){digitalWrite(m1_4-binH+1,0);} if (dir == 3){digitalWrite(m2_4-binV+1,0);} } if (dir == 1 || dir == 2){ if (binH == 4){binH = 0;} binH++; }else{ if (binV == 4){binV = 0;} binV++;} if (dir == 1 || dir == 2){ if (dir == 2){digitalWrite(m1_1+binH-1,1);} if (dir == 1){digitalWrite(m1_4-binH+1,1);} } if (dir == 3 || dir == 4){ if (dir == 4){digitalWrite(m2_1+binV-1,1);} if (dir == 3){digitalWrite(m2_4-binV+1,1);} } } Serial.println((String) 5); } }

Appendix B

Code used for beta angle estimation in ROS usable for Arduino

float vmaxO = 0,vminO = 999,vrefO = 0; //Reference volages int capture = 0,c = 0,pos = 0, pos_ant = 0,change = 0; //Flags float opto = 0,foto = 0; //Data int picoO[2] = {0},picoF = 0, maxF = -9999; //Peaks int cpicosO = 0,diffO = 0,diffF = 0; //Peaks; void setup() { pinMode(A0,INPUT); pinMode(A1,INPUT); Serial.begin(9600); } void loop() { if (c>50000){ vmaxO = vminO * 2; } opto = analogRead(A0); foto = analogRead(A1); foto = - foto; if (opto < vminO){vminO = opto;} if (opto > vmaxO || vrefO > vmaxO){vmaxO = opto;} vrefO = (vminO + vmaxO) / 2; if (opto<=vrefO){capture=1;} if (capture==1){ if (foto > maxF){ maxF = foto; picoF = c; } c++; if (opto > vrefO * 1.1){ pos = 1; if (pos_ant == 0){ change = 1; if (cpicosO == 1){ picoO[0] = c; } else{ picoO[1] = c; } } pos_ant = 1; } else if (opto < vrefO * .9){ pos = 0; if (pos_ant == 1){ change = 2; if (cpicosO == 0){ cpicosO++; } else{ cpicosO=2; } } pos_ant = 0; } if (cpicosO == 2 && change == 1){ diffO=picoO[1]-picoO[0]; diffF=picoF-picoO[0]; Serial.println((String) "O" + diffO + " F" + diffF); maxF = -9999; c = 0; cpicosO = 1; picoO[0] = 0; picoO[1] = 0; } } }

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Alaniz-Plata, R. et al. (2022). ROS and Stereovision Collaborative System. In: Sergiyenko, O. (eds) Optoelectronic Devices in Robotic Systems. Springer, Cham. https://doi.org/10.1007/978-3-031-09791-1_4

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