[baronep]

So we just received out new axis camera and led rings today and I am extremely impressed. With only a 60mm led ring, we were able to illuminate the retro-reflective tape from half-way across the shop. At this point, I am very confident that our robot will have some sort of computer vision this season.

Here is our current algorithm: We are using the NI vision assistant to create a VI for us, so here are the filters applied in the Vision Assistant.

1. Original Image (Acquired from the axis camera)
2. Color Threshold using HSL values acquired from sampling using histogram tool. This creates a rough outline of the square with some noise.
3. Adv. Morphology - Convex Hull: Fills in the rectangle
4. Particle Filter - Area: Removes any small noise leaving 4 rectangles
5. Particle Analysis: outputs any information that you want to know about the rectangle(s)