CSCI 473/573 Human-Centered Robotics
CSCI 473/573Human-Centered Robotics
Robot Sensing
What is the purpose of sensing?
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What are sensors?
• Sensors are physical devices that measure physical quantities.
• Sensors are a key physical component of the perceptual system of a robot.
• Sensors do not provide state, but measurement or observation
• Examples: ▪Contact: switch ▪Distance: radar ▪Magnetic field: compass
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Sensor Types
• Based on energy emission:▪ Passive: receive energy only
• Vision• Hearing
▪ Active: emit energy• Radar, sonar• Structured light• Touch
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Sensor Types
•Based on data source
▪ Internal information (Proprioceptive): • Battery level• CPU temperature• Joint angle and force
▪ External information (Exteroceptive):• Distance• Vision
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Common Robot Sensors
•Sonar: a transducer generates a sound pulse and then listens for echo
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Common Robot Sensors
•Sonar: a transducer generates a sound pulse and then listens for echo
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Common Robot Sensors
•2D laser scanner is a remote sensing technology that measures distance by illuminating a target with a laser and analyzing the reflected light.
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Common Robot Sensors
•2D laser scanner is a remote sensing technology that measures distance by illuminating a target with a laser and analyzing the reflected light.
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Common Robot Sensors
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Common Robot Sensors
•PTZ camera: a camera that is capable of remote directional and zoom control (pan-tilt-zoom)
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Common Robot Sensors
•360 omnidirectional camera
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Common Robot Sensors
•Omni-directional camera: a camera with a 360-degree field of view in the horizontal plane, or with a visual field that covers (approximately) the entire sphere.
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Common Robot Sensors
•Omni-directional camera: a camera with a 360-degree field of view in the horizontal plane, or with a visual field that covers (approximately) the entire sphere.
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Common Robot Sensors
•Thermal cameras
Common Robot Sensors
• Other traditional sensors• light level -> photo cells, cameras• sound level -> microphones• rotation -> encoders• temperature -> thermometer• gravity -> inclinometers• acceleration -> accelerometers• orientation-> gyroscopes
• IMU: inertial measurement unit uses a combination of accelerometers, gyroscopes, and sometimes magnetometers.
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3D Sensing
•3D laser scanner: • Type 1: point-by-point with a laser beam• Type 2: time-of-flight camera captures the entire with
each laser or light pulse
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3D Sensing
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LiDAR (Light Detection and Ranging) is a device that measures distance to a target by illuminating that target with a laser light.
Common Robot Sensors
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3D Sensing
•Stereo camera: Two (or more) cameras looking at the same scene from different perspectives provide a mean for determining three-dimensional shape and position.
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Fl
Il
Pl
Left camera
system
Fr
Ir
Pr
Right camera
system
P
Pr Pl
Il
Ir
= disparity
(a) (b)
3D Sensing
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•Stereo camera: Two (or more) cameras looking at the same scene from different perspectives provide a mean for determining three-dimensional shape and position.
3D Sensing
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•Structured light cameras (e.g., Kinect, Intel RealSense)
Robot Sensing
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What sensors are needed by a self-driving car to perceive external
situations?
Robot Sensing
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Robot Sensing
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Robot Sensing
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What sensors are needed by a Security Robot to perceive human-
social situations (e.g., in a mall)?
Common Robot Sensors
From SMP Robotics, 2019 31
Applications of HCR: Security
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Robot Sensing
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Mars Rovers 2020
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