ROTI3DBFUWBAV

Robust object tracking in 3D by fusing ultra-wideband and vision

This project was a semester project I did at the Advanced Interactive Technology Lab (ait.ethz.ch) at the Swiss Federal Institute of Technology (ETH) durgin my master studies in Information Technology and Electrical Engineering.

Documentation

The report that I had to write for this semester project is written in LaTeX and located in the folder doc.

Presentation

The presentation I gave is located in the folder presentation.

Contained scripts/ROS nodes

Scripts

aruco/main.py

ArUco sample, used to test ArUco python functionality.

calibration/calibration.py

Python script for the camera calibration with OpenCV.

kabsch/Calibration.m, kabsch/CalibrationVicon.m

Matlab scripts to match the coordinate systems with the Kabsch algorithm.

tracker

KCF tracker base implementation without ROS.

validation_plot/validation_plot.py

Python script for the offline evaluation of the ekf. Measures the rmse of the uwb and the ekf with respect to the VICON data.

ROS nodes

publish_image, publish_image_node

Publishes images, recorded with a camera, as ROS messages.

uwb, uwb_tracker_node.py

Publishes the information provided by the UWB system as ROS messages.

uwb_aruco, uwb_aruco_node.py

Receives ROS messages from the uwb and publish_image node, detects ArUco markers and saves the locations provided by both systems into a hdf5 file.

vicon_aruco, vicon_aruco_node.py

Receives ROS messages from the VICON system and publish_image node, detects ArUco markers and saves the locations provided by both systems into a hdf5 file.

vision_tracker, vision_tracker_node

The KCF tracker publishes the 2D pixel coordinates as ROS message as well as boolean ROS message which indicate, if the object is lost or not.

fusing, fusing_node.py

The EKF receives ROS messages from the vision_tracker and uwb node and publishes the fused positions as ROS messages.

visualization, visualization_node

Displays the positions provided by the UWB, the vision tracker and by the EKF on top of the picture.

validation, validation_node.py

Records the required information to perform the evaluation.