3D Sensor

TIAGo 3D sensor configuration in AMAS

Introduction

To setup TIAGo 3D sensor in AMAS user needs to:

  • add SenseKit

  • select calibration type with pose data (coming from TIAGo)

  • fine-tune the calibration

  • optionally enable 2D-3D fusion

Adding SenseKit

Follow SenseKit Addition and Configuration with:

  • your TIAGo robot IP address

  • default ROS port 9090

Selecting Calibration Type

Follow SenseKit to Robot Calibration with

  • End Effector with Pose mount type

Immediately after selecting End Effector with Pose mount type save the calibration without taking any samples.

Fine-Tuning the Calibration

For TIAGo with Astra S camera calibration data sent from the robot is just a bit off.

Follow Manual Sensekit Calibrationwith

  • -0.02 for Right

  • 0.02 for Up

  • 0.02 for Forward

This should be enough to get correct 3D data overlap but system may be further fine-tuned if needed.

Enable 2D-3D fusion (optional)

For TIAGo with Astra-S camera the range of quality 3D data is limited.

You may optionally enable 2D-3D fusion to increase field of view and see 3D data emerging from 2D at cutoff distance.

Follow 2D - 3D fusion setup, typically with:

  • 2 m Cutoff Distance and Cutoff Replacement

Fine tune cutoff distance/replacement as needed.

Below is an example of the 2D 3D view from the Tiago First person view:

  • The chair and items on the chair are within the cut off distance and so shown in 3D

  • The flooring and people in the background are outside of the cut off distance and so shown in 2D

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