ieee robot team vision system project michael slutskiy & paul nguyen ece 533 presentation

IEEE Robot Team

Vision System ProjectMichael Slutskiy & Paul NguyenECE 533 Presentation

Mission Navigate 150lb Robot Through Obstacle Course

Vision System Objectives

Find parts of image that the robot should not drive into

Map these parts and send them to the artificial intelligence system

Attempt to distinguish between physical objects and 2 dimensional images on the ground

Success

Some Combinations

•Get an image from the camera approx. 15fps

•Filter out orange

•Extract the blue plane for the dynamic thresh.

•Binarize (note the salt and pepper noise)

•Clean up image using a 5x5 Median filter

•Use Sobel edge extraction and Hough transform to pick out lines

Tarps

Pass Image to AI

This is the target location for the robot to navigate to in this frame.

Extensions Complete color segmentation

Aid with tarps and texture noisePotentially better than current threshold

Template matchingHelp separate objects from lines

Multi-image operations World mapping

Planning AI instead of reactionary AI

Questions, Comments,

Suggestions?

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