Quote:
Originally Posted by Joe Johnson
First regarding "As long as Y = "a distinct color not found/illegal on robots"" This is a pretty significant as long as.
Second, regarding using standard image processing, my experience with machine vision is that with controlled lighting, life is good, without it, life can be pretty crumby.
|
The use of the color threshold in this case would be used only to speed things up (throwing away pixels that are not conceivably part of the ball) and/or to differentiate between balls/spheres of different colors. As long as you can detect the color discontinuity at the edges of the ball with an edge detector (the first step of the hough circle transform), you will still be able to detect the ball. The detection of color/intensity discontinuities is fairly robust to illumination (which is why it is under the hood of SIFT, SURF, etc., features).
There's no question that using the depth sensor would be even more robust, but I have performed reliable shape recognition using only RGB techniques in far less constrained environments than an FRC field (albeit with far more engineering time than I would be willing/able to devote to FRC programming

)