first fare 2011 effectively using the camera
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Dennis C. Erickson ~ Senior Mentor for Teams 1510 and 2898
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Using one or more Video Cameras on a robot allows for target finding ,
direction to the target and distance to the target
Cameras can use “Masking” an/or “Shape Recognition”
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• Object (Trailer) detection • Use to find and determine friend or foe
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• Use to determine distance and direction to flag (good distance measurement from 2 feet and up) • Can be used with servos to pan and tilt the camera to extend the visual bound • Masking provides image of only flag (can mask other defined objects as well)
Note an example of masking that was used in the 2009 competition. The “Flag Location” gauge shows not only the direction to the target but also the relative size of the target which is used to determine the distance from the robot.
Viewing a target with a defined mathematical representation In the 2010 competition software was designed to find a “bull's-‐eye” located above the goal.
This LabVIEW code shows how the video image is analyzed and the SubVI returns the target information including position, the score and from the minor to major radius ratio, the angle offset
Viewing a target using Color, Threshold, Filtering and Particle Analysis . Note the 3 poles with Retroreflective tape
Illuminating the scene with a red LED array shows only the tape
Particle Analysis “discovers” the tape and software determines the position of the tapes
In 2011 the goal was to launch a small robot when the light came on at the bottom of the pole. The camera could have sensed the light much faster and automatically launched the robot before a human could. If the camera software failed then the human would be the backup
The One other method used to locate a target is to use frame grabbing to compare a known image (complex shape) with a “stored” replica of the target. This might include a face, a ball, a hockey puck, etc. This might be used in a future game as it seems that cameras are playing an accelerated part in game playing
Dennis C. Erickson - [email protected]