BaRoboticCTCollisionDetectionOctoMap

Chair for Computer Aided Medical Procedures & Augmented Reality
Lehrstuhl für Informatikanwendungen in der Medizin & Augmented Reality

Thesis: Robotic Computed Tomography: Collision Detection with OctoMaps

Thesis by:
Advisor: Tobias Lasser
Supervision by: Erdal Pekel

Abstract

In Robotic Computed Tomography a robot places a target object in different poses between source and detector for improved reconstruction results. In order to provide safety measures for the robot itself and the operators a collision detection mechanism based on pointcloud measurements is employed. OctoMaps are an alternative modelling approach for the efficient analysis of pointclouds. For this purpose they should be integrated into the the existing ROS package and performance should be compared to the current custom implementation.

Tasks

The aim of this thesis is the integration of OctoMaps into an existing ROS package for the purpose of analysing the acquired pointclouds for collisions in the current robotic computed tomography setup. The OctoMap implementation would possibly replace the current custom collision detection implementation. A comprehensive analysis of the accuracy and runtime should be performed in the thesis after successful implementation.

There is already an existing OctoMap implementation within the ROS ecosystem. This implementation should be integrated into our ROS package and synchronised with incoming sensor data and the system state. The hyper-parameters should be optimised for different operating environments of the robot.

Requirements

Knowledge in C++ and ROS, interest in robotics

Contact


Students.ProjectForm
Title: Robotic Computed Tomography: Collision Detection with OctoMaps
Abstract: In Robotic Computed Tomography a robot places a target object in different poses between source and detector for improved reconstruction results. In order to provide safety measures for the robot itself and the operators a collision detection mechanism based on pointcloud measurements is employed. OctoMaps are an alternative modelling approach for the efficient analysis of pointclouds. For this purpose they should be integrated into the the existing ROS package and performance should be compared to the current custom implementation.
Student:  
Director: Tobias Lasser
Supervisor: Erdal Pekel
Type: Bachelor Thesis
Area:  
Status: open
Start: ASAP
Finish:  
Thesis (optional):  
Picture:  


Edit | Attach | Refresh | Diffs | More | Revision r1.5 - 20 Aug 2019 - 06:14 - ErdalPekel