Difference between revisions of "2017 Winter Project Week/ROS Surface Scan"

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==Key Investigators==
 
==Key Investigators==
 
<!-- Add a bulleted list of investigators and their institutions here -->
 
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*Tobias Frank (
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*Tobias Frank (Institute of Mechatronic Systems, Leibniz University of Hannover, Germany)
Institute of Mechatronic Systems, Leibniz University of Hannover, Germany)
 
 
*Junichi Tokuda (SPL, Boston)
 
*Junichi Tokuda (SPL, Boston)
 
*Longquan Chen (SPL, Boston)
 
*Longquan Chen (SPL, Boston)

Revision as of 23:21, 7 December 2016

Home < 2017 Winter Project Week < ROS Surface Scan

Key Investigators

  • Tobias Frank (Institute of Mechatronic Systems, Leibniz University of Hannover, Germany)
  • Junichi Tokuda (SPL, Boston)
  • Longquan Chen (SPL, Boston)

Project Description

Objective Approach and Plan Progress and Next Steps
  • Transmission of poly data ( from surface scan ) between ROS environment and Slicer via ROS-OpenIGTLink-bridge
  • Registration of segmented model data with the real time surface scan data.
  • Ask a 2 DOF Lego robot to perform targeting based on the registration.
  • Transmission of the poly data could be directly using the PolydataMessage, or compress the data first and send via VideoMessage.
  • A 3D printed organ will be used for surface scan, and 3d model of the organ is also available. 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.
  • Perform ICP registration on the surface scan data and the 3d organ model, (corse-to-fine registration maybe be needed)
  • Targets are selected from the desk model in Slicer. The robot is asked to perform targeting on the these targets.

Background and References