ieee robot team vision system project michael slutskiy & paul nguyen ece 533 presentation
TRANSCRIPT
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?
Visit www.cae.wisc.edu/~ieeerobo for more info or send us an email at [email protected]