Kinect for frc 2012
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Kinect for FRC 2012. Dan Rosenstein. Outline. Scope and Introduction Kinect hardware Kinect and FRC 2012 Kinect for Windows architecture Skeleton, audio and sensor data FRC Kinect architecture Programming Control considerations References and getting help Demo and questions. Scope.

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Kinect for FRC 2012

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Kinect for frc 2012

Kinect for FRC 2012

Dan Rosenstein


Outline

Outline

  • Scope and Introduction

  • Kinect hardware

  • Kinect and FRC 2012

  • Kinect for Windows architecture

  • Skeleton, audio and sensor data

  • FRC Kinect architecture

  • Programming

  • Control considerations

  • References and getting help

  • Demo and questions


Scope

Scope

  • Technology overview of Kinect for FRC 2012

  • Focus on integration to FRC Driver Station

  • Beginners guide to Kinect

  • Supplement to official documentation


Introduction

Introduction

  • Kinect launched for the Xbox 360 on 11/4/2010

    • Xbox Launch Commercial

  • Kinect for Windows announced (2/21/2011)

  • Kinect for Windows Beta released (6/16/2011)

  • Kinect for FRC announced (10/6/2011)

  • You and FRC are at the cutting edge of technology!

    • Kinect Effect (11/3/2011)


Kinect hardware

Kinect Hardware

3D DEPTH SENSORS

RGB CAMERA

MOTORIZED TILT

MULTI-ARRAY MIC


Kinect and frc 2012

Kinect and FRC 2012

  • The Kinect has multiple powerful sensors for depth, skeleton, video and audio input

  • The Kinect is likely intended for robot control via the drivers station for the 2012 FRC game


Kinect for windows architecture

Kinect for Windows Architecture


Skeleton data

Skeleton Data


Kinect audio

Kinect Audio

  • Four microphone arraywith hardware-basedaudio processing

    • Multichannel echo cancellation (MEC)

    • Sound position tracking

    • Other digital signal processing (noise suppression and reduction)


Kinect sensor data

Kinect Sensor Data


First kinect architecture

FIRST Kinect Architecture

Driver Station

Robot


First kinect architecture1

FIRST Kinect Architecture

FRC Driver Station

WPI Lib

(Kinect Enabled)

WPI Kinect Server

Kinect for Windows SDK

cRIO

Kinect

Driver Station

Robot

Joystick Position and Skeleton points


Programming

Programming

  • Teams using C# can change/modify the WPI Kinect Server on the Driver Station

  • Teams using LabView, Java or C++ can process joystick AND skeleton point data on the cRIO robot controller


Control considerations

Control Considerations

  • Robot control is achieved via skeletal position

  • Gestures/poses relate to skeletal position and inform which control is desired

  • Consider your gestures carefully!

  • Response times will be different with Kinect compared to traditional joysticks


Kinect for windows references

Kinect for Windows References

  • SDK Quick Starts

    • Code Samples and Slide Presentations

  • Beta Launch Event Archive

    • More code samples and info

  • Gallery of Code Projects

    • Kinect projects, including useful libraries

  • Official Documents and Forums


Kinect frc references

Kinect FRC References

  • This presentation and video archive

  • FRC Beta Forums (Access is Limited)

  • YouTube

    • Team 341

    • Team 1912

    • Team 294

    • Team 2169

    • Team 238


Getting help

Getting Help

  • FRC Forums

  • Public Kinect for Windows Forums

  • Escalate to Microsoft via official FIRST contacts


Demo and questions

Demo and Questions

  • Go NeoBots, go!


Kinect for frc 2012

FAQ

  • Can we put Kinect on the robot?

  • When can we put Kinect on the robot?

    • There is no FIRST rule (yet) officially stopping you from using the Kinect on the robot. That said, there is no software and direct hardware interface to integrate the Kinect and the cRIO.


Thanks

Thanks!

  • NeoBots team #2903

    • Dan Radion, Jim Bassett, Brett Sarver

  • WPI/FIRST

    • Brad Miller, Frank Merrick

  • FIRSTWA and Kevin Ross

  • Issaquah Robotics Society team #1318

  • Microsoft

    • Aimee Sprung, Suzi LeVine, Stewart Tansley, Philip DesAutels, Alfred Thompson, John Gilbert


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