frank bergschneider imdl eel5666 march 12, 2013. objective system overview hardware software ...
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Objective System Overview Hardware Software Test Data Future Work
Color Tracking Vision System
Frank Bergschneider EEL5666 IMDL
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Objective: Follow a leader using quadruped locomotion and a color tracking vision system
Special Sensor: Droid IP Webcam
Color Tracking Vision System
Frank Bergschneider EEL5666 IMDL
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Camera: Motorola Droid Android v2.2.3, Arm Cortex A8 550 MHz Processor, 5MP camera
Router: Linksys WRT54GL Wireless Broadband Laptop: Gateway MS2274 with 64 bit Windows 7 Bluetooth:
◦ Funspark BlueSMiRF Silver◦ Generic USB Bluetooth Dongle
Microcontroller: ATxmega128A1U
Hardware
Frank Bergschneider EEL5666 IMDL
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Droid: IP Webcam App – Video over IP Laptop:
◦ IP Camera Adapter – network camera adapter ◦ ManyCam Virtual Webcam – “mount” virtual webcam◦ C++ MS Studio with OpenCV Library – access stream
Note: Virtual webcam doesn’t show up in Device Manager Lag and decreased resolution could be issues
Software
Frank Bergschneider EEL5666 IMDL
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Neon Green HSV: 48-53 ; 200-230; 225-250 Pixel Threshold for Target Presence X Position: Scaled Center of Mass -> Direction
Test Data
Frank Bergschneider EEL5666 IMDLhttp://en.wikipedia.org/wiki/File:Hsl-hsv_models.svg
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Robust Color Handling Target Distance Estimation Virtual Router by Chris Pietschmann
Future Work
Frank Bergschneider EEL5666 IMDL