Robotics competition 2016
- 1. OpenCV and Python Industrial image processing application for IEEE Region 5 Robotics Competition. By Rohan Kotwani
- 2. IEEE Region 5 Robotics Competition • The goal was to navigate to a color block & place that block into a bin corresponding to the color. • A pi camera with OpenCV installed was used for object detection, navigation to object, and color detection.
- 3. Information Gathered & associated problems • Color – The color detection was an issue different lighting conditions effect the intensity of the color. • Distance – The distance of the robot to the object primary depended on the algorithm’s ability filter out noise & correct detect the perimeter of the image • Angle from center of camera – The angle was calculated using the distance in pixels from the center of the image & the camera focal length.
- 4. Parts List • Raspberry Pi 2 • OpenCV • Python 3 • Arduino Mega
- 5. How it was made • Image processing was done on the R-Pi2, then the information was sent via serial communication to the Arduino Mega. • A “hand-shake” method was used to confirm the data transfer.
- 6. Exploratory threshold analysis • A taxonomy of colors was created with a K-mean clustering algorithm.
- 7. Object detection 1. Color threshold filter 2. Contour detection 3. Algorithm to find contours of the right dimension
- 8. Distance detection • The red points are the actual distances, the red line is the curve fitted interpolation, and the blue points are the distance calculated with triangle similarity.
- 9. Color detection • The color was calculated by finding the average color inside contours.
- 10. The End