Sistema Projection Mapping Adequado a Robótica Móvel e Cenas Complexas

Abstract

Mobile robotics will be prevalent in addressing many future industrial and social needs. However, in order for such robots to operate in increasingly complex and dynamic real life scenarios, important challenges must be tackled first. Several tasks like 3D environment modeling, task planning, self-localization, and Human-Robot Interaction (HRI) are areas of expertise mobile robotics is set to overcome in the current literature.

Projection Mapping is a projection technique that projects an image correctly over almost all surfaces. This means that every surface can become an immersive display where all sort of visual information can be portrayed. Coupling this with other sensors, a truly interactive experience can be achieved. It’s for these reasons that this technique has generated interest in the community and in the industry.

Another field of study that has generated large amount of interest in the last couple of years is Human-Robot Interaction (HRI). As robots are filling more and more roles in present society, performing tasks that are more complex and more socially challenging, it is therefore important to define an interaction capable of fully performing all the interactive necessities required by the tasks or meet the restrictions imposed by the environment.

This thesis proposes generic architecture features for a HRI with Projection Mapping application, as well as an implementation on a validation setup (ABB IRB140), and in the CARLoS robot. Complex scenes were modeled with the help of Gazebo and .STL files. Projector and camera calibrations were also performed. The system has different modules, ranging from dynamic scene loader, projection mapping, HRI interface with a laser pointer, as well as several ROS nodes to abstract communications and meet the modularity requirement.