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BA: Simple Vision-based Navigation for a Biomimetic Mouse Robot

Image similar to our mouse robot.Image similar to our mouse robot.

Based on NeRmo, a biomimetic mouse robot developed by TUM, we have built our own robot, which is intended for use in research and education. In addition to the ability to perform actions in its environment, the robotic agent's perception capabilities play a significant role. For example, so-called whisker sensors were developed at our professorship and integrated into the system - a very important perceptual component for such a rodent. With another sensor, an IMU, the sense of balance can be modelled within the system.

Another important input is visual information about the environment. As part of your work, a camera should be integrated into the robot for this purpose. Due to space and energy restrictions, a simple microcontroller-based solution, e.g. based on the ESP32-Cam module, is supposed to be designed. Based on the camera images and the IMU information, a demonstrator based on a visual inertial odometry algorithm (e.g. VINS / ORB3-SLAM) is supposed to be implemented and evaluated. Alternative approaches for demonstration, e.g. based on a multimodal generative AI system, are possible.

Advisor:

Requirements:

  • Basic knowledge in Linux/Ubuntu would be good.
  • Basic knowledge in microcontroller usage and programming.