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 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.
    • Perform ICP registration on the surface scan data and the 3d organ model, (corse-to-fine registration maybe be needed)
    • 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.

Background and References

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