64-850-P1 Masterproject Intelligent Robotics (Part 2)
| Room: | F-326 (PR2 lab) |
| Date: | Thursday, 12:15 - 15:45 |
| Organizer: | Michael Görner, Norman Hendrich |
- ROS basics (incl. simulation)
- Hardware design of high-res vision system for the PR2 robot
- Image processing (e.g. OpenCV)
- RGB-D data processing (e.g. PCL)
- Deep-Learning for Vision tasks (e.g. YOLO)
- Motion planning
- High-level Control (e.g. Behavior Trees, State machines)
- Understanding multiple programming languages (e.g. C++, Python)
- Data visualization (RViz, markers, PlotJuggler etc.)
- Debugging (incl. rosbag)
Marimbabot Scenario
The group works on a robot playing a Marimba/Xylophone.
Master Project Report
coming soon.
Videos
Coming soon.
Final project demonstration video (30 MB mp4). The video shows our UR5 and Diana7 robot arms playing simple melodies on a real Xylophone/Marimba instrument. The robot can read simple sheet-music, recognizing the notes and meta-information (e.g. style and tempo), but also takes MIDI files or lilypond files as input. The resulting audio is fed into a deep-network for automatic segmentation and tone recognition, allowing for self-supervised learning of the required motion-primitives.
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