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KITE: Khepera Integrated Tracking Environment

KITE is developed as an integrated environment created for visual and quantitative evaluation of navigation and localization algorithms in real time on the miniature robot Khepera. This system was developed by Dr. Erol Sahin during his PhD studies and is no longer supported. The source and documentation is provided "as is" with the hope that it can be of help to others.

A schematic diagram of KITE is shown below:

KITE has two components: The Khepera Tracker and the Khepera Panel as shown below:

(a) The Khepera Tracker
(b) The Khepera Panel (Click to enlarge)

The Khepera Tracker tracks the position and orientation of the Khepera through the overhead camera using a colored marker placed on the robot in real-time. Tracking the robot is based on finding pixels in the current frame with color that matches the desired tracking color. The Khepera Tracker runs as a stand-alone application and providing communication outlets to share the tracking information with other applications.

The Khepera Panel is designed to create a unified interface for process monitoring, control and display. It superimposes spatial information obtained from the robot's sensors upon an overhead view of the robot's environment. That view provides a common coordinate system for navigation and localization algorithms to be visually and quantitatively evaluated in real time.

As an example the odometric dead-reckoning of the Khepera is evaluated in KITE. The black dots are the trace of the robot's position as estimated by odometric dead-reckoning. The white dots show the trace of the actual position of the robot.

Below the trace of an experiment, as recorded by KITE, is shown in (a). In this experiment the robot runs a visual object localization system, that estimates the distance to the object which can be seen in the view. The estimated distance can be compared with the actual distance for evaluation as plotted in (b).

(a) Overhead trace of the experiment
(b) Quantitative evaluation results (Click to enlarge)

KITE System Requirements

  • PC
  • Matrox Meteor frame grabber
    (Sequence P1S is a fully compatible clone by Omnimedia)
    for the Matrox Meteor frame grabber driver for Linux.
  • Qt GUI Library
  • g++
  • A CCD camera for the overhead view
  • Khepera

KITE Paper

  • The KITE paper was presented at the First International Khepera Workshop, Paderborn, Germany, 10-11 December 1999. You can download the postscript copy.

KITE Source Code

This page was last modified on 24 December 2009, at 12:34. This page has been accessed 7,175 times.