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#15
01-19-2005, 10:14 AM
 dlavery Curmudgeon FRC #0116 (Epsilon Delta) Join Date: Jun 2001 Rookie Year: 1996 Location: Herndon, VA Posts: 3,176
Re: Wiring two cameras

Quote:
 Originally Posted by jgannon Conceptually, it's not that difficult. Get them both operational (with a little help from Kevin), and mount them on opposite corners of the front your robot. You know the width of your robot (likely 28"), and you can get the two angles from the values of the pan servos. You have angle-side-angle, and there's only one solution to the triangle. Now you know how far away you are. Pivot until the two base angles are congruent, and charge forward until you're the proper distance from the vision tetra. Use the same theory with the yellow triangle to the goal. It's very doable, and I'd love to pull it off. I can't think of a more incredible nerd feat attainable at this age than to meet Dave Lavery's personal challenge.
Actually, conceptually it is not that simple. Remember, the challenge is to come up with a real stereo correlation solution, not a simple geometric one. The biggest problem is that there are multiple vision tetras out on the field. You have to compute the true correlation between the camera images to determine if both cameras are looking at the same target. Only then can you back-solve the geometry.

If I am going to give away six dozens tasty treats without allowing any for myself, I have to make sure that the challenge is really worth it! C'mon, are you all going to leave Kevin as the only contender?

-dave
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Last edited by dlavery : 01-19-2005 at 10:17 AM.

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