Difference between revisions of "2017 Winter Project Week/ROS Surface Scan"
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** Transmission of the poly data could be directly using the PolydataMessage, or compress the data first and send via VideoMessage. | ** Transmission of the poly data could be directly using the PolydataMessage, or compress the data first and send via VideoMessage. | ||
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** A 3D printed organ will be used for surface scan, and 3d model of the organ is also available. | ** A 3D printed organ will be used for surface scan, and 3d model of the organ is also available. | ||
** Perform ICP registration on the surface scan data and the 3d organ model, (corse-to-fine registration maybe be needed) | ** Perform ICP registration on the surface scan data and the 3d organ model, (corse-to-fine registration maybe be needed) | ||
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** Registration of the robot and Slicer could be done by manually by matching the points from surface scan and a 3D robot model. Under the 3d model, a 2D flat desktop model is attached. This 2D flat desktop model is the working space of the robot | ** Registration of the robot and Slicer could be done by manually by matching the points from surface scan and a 3D robot model. Under the 3d model, a 2D flat desktop model is attached. This 2D flat desktop model is the working space of the robot | ||
** Targets are selected from the desk model in Slicer. The robot is asked to perform targeting on the these targets. | ** Targets are selected from the desk model in Slicer. The robot is asked to perform targeting on the these targets. |
Revision as of 14:17, 8 December 2016
Home < 2017 Winter Project Week < ROS Surface ScanKey Investigators
- Tobias Frank (Institute of Mechatronic Systems, Leibniz University of Hannover, Germany)
- Junichi Tokuda (SPL, Boston)
- Longquan Chen (SPL, Boston)
Project Description
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