Difference between revisions of "Testbed"
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Leon@Home Testbed is located in the second floor of the [https://www.google.com/maps/@42.6150329,-5.5635688,203m/data=!3m1!1e3 Modulo de Investigación en Cibernética] in the Universidad de León campus of Vegazana, León (Spain). | Leon@Home Testbed is located in the second floor of the [https://www.google.com/maps/@42.6150329,-5.5635688,203m/data=!3m1!1e3 Modulo de Investigación en Cibernética] in the Universidad de León campus of Vegazana, León (Spain). | ||
| − | The apartment is a single bedroom home in a 8m x 7m space. It is divided into a Kitchen, living room, bathroom and a bedroom. | + | The apartment is a single bedroom mock-up home built in a 8m x 7m space. It is divided by 50cm high walls into a Kitchen, living room, bathroom and a bedroom. This is the |
[[Image:Apartamento_leon.jpg|center|border|300px]] | [[Image:Apartamento_leon.jpg|center|border|300px]] | ||
The Leon@Home Testbed furniture has been designed to test different robot abilities. For instance, kitchen cabinets have different types of handlers. | The Leon@Home Testbed furniture has been designed to test different robot abilities. For instance, kitchen cabinets have different types of handlers. | ||
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| + | <videoflash>pU4avjbgFMQ</videoflash> | ||
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| + | == Tracking System == | ||
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| + | We have available three different systems for tracking the robots: | ||
| + | # [[http://www.eliko.ee/products/kio-rtls/ KIO RTL]] ground-truth system based on Ultra Wideband (UWB) technology | ||
| + | # [[http://pentalo.com/3dpt.html Pentalo 3D people tracker]] based on RGB-D cameras (four cameras in the top corners of the apartment) | ||
| + | # VICON tracking system (on demand) | ||
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| + | <videoflash>8icVWz0zSMw</videoflash> | ||
= Control Area = | = Control Area = | ||
Revision as of 14:13, 29 June 2016
Leon@Home Testbed
Leon@Home testbed main purpose is to benchmark service robots functionalities and tasks in a realistic home environment. The testbed is made up by three parts: a mock-up apartment, a control zone with direct vision (glass wall) to the apartment, a small workshop and a larger development zone where researchers work.
Apartment
Leon@Home Testbed is located in the second floor of the Modulo de Investigación en Cibernética in the Universidad de León campus of Vegazana, León (Spain).
The apartment is a single bedroom mock-up home built in a 8m x 7m space. It is divided by 50cm high walls into a Kitchen, living room, bathroom and a bedroom. This is the
The Leon@Home Testbed furniture has been designed to test different robot abilities. For instance, kitchen cabinets have different types of handlers.
<videoflash>pU4avjbgFMQ</videoflash>
Tracking System
We have available three different systems for tracking the robots:
- [KIO RTL] ground-truth system based on Ultra Wideband (UWB) technology
- [Pentalo 3D people tracker] based on RGB-D cameras (four cameras in the top corners of the apartment)
- VICON tracking system (on demand)
<videoflash>8icVWz0zSMw</videoflash>
Control Area
Robots
Permanent robotic residents of the Leon@Home Testbed are:
- Orbi-One
- Merlin
