Re: [E-puck-user] Using e-puck for tutorials in sensor fusion (ex: kalman filtering)

[Sergi Torrellas]

Hi Andrea,

I had the same idea some time ago and tried to develop something on the
same direction. My problems were the following:

- The motors on the ePuck are not equipped with encoders. The encoders you
see in the API are only counting the amount of time the motors are driven.
So you could force the wheels to be stopped and the "virtual encoder" will
still be counting. For this the precision of the encoders is low.
- The resolution of the camera makes it difficult to make a triangulation
algorithm. Even with this, this algoritms are mostly based on the angles
between different landmarks. Here it comes again the problem of the
encoders because I was not able to get the angle accurately enough

Well, dont know if I was clear, otherwise ask it!

Hope this helps,

Sergi

2012/7/18 Andrea Cherubini 

> Dear e-puck users,
>
> I would like to use the e-puck as educational tool for my masters students
> in a tutorial on fusion.
> For instance, I would like to develop a simple localization algorithm
> fusing data from the camera and encoders (or camera and accelerometer).
> I would like to know if any of you has done this with the standard e-puck
> (no extensions), to get a feedback on feasibility (typically in terms of
> sensor performance and framerate).
>
> Thank you in advance for your precious advice.
>
>
> Andrea Cherubini
> Maître de Conférences
> LIRMM
> 95 Rue de la Galéra
> 34095 Montpellier Cedex 5 – France
>
> ___
> E-puck-user mailing list
> E-puck-user@gna.org
> https://mail.gna.org/listinfo/e-puck-user
>



-- 
***Sergi TORRELLAS
AIL-eHealth Coordinator
*eHealth*
BARCELONA DIGITAL TECHNOLOGY CENTRE
* * www.bdigital.org*
  *M. ** 616 21 72 97
Skype: sergi.torrellas
**
* storrel...@bdigital.org 

Barcelona: Media-TIC building, Roc Boronat
117, 5th floor, 08018  - T. +34 93 553 45 40 - Fax. +34 93 553 45 41
Lleida: Scientific and Technological Agro-food Park. Gardeny Park, ICT
Building. T. +34 973 19 36 60
Girona: Scientific and Technological Park of the Girona University. Emili
Grahit, 91st. T. +34 972 41 64 78
___
E-puck-user mailing list
E-puck-user@gna.org
https://mail.gna.org/listinfo/e-puck-user

[E-puck-user] Using e-puck for tutorials in sensor fusion (ex: kalman filtering)

[Andrea Cherubini]

Dear e-puck users,

I would like to use the e-puck as educational tool for my masters students in a 
tutorial on fusion.
For instance, I would like to develop a simple localization algorithm fusing 
data from the camera and encoders (or camera and accelerometer).
I would like to know if any of you has done this with the standard e-puck (no 
extensions), to get a feedback on feasibility (typically in terms of sensor 
performance and framerate).

Thank you in advance for your precious advice.


Andrea Cherubini
Maître de Conférences
LIRMM
95 Rue de la Galéra
34095 Montpellier Cedex 5 – France

___
E-puck-user mailing list
E-puck-user@gna.org
https://mail.gna.org/listinfo/e-puck-user