Thread: What Did you use for Vision Tracking?
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Unread 02-05-2016, 10:50
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Zebravision Labs
FRC #0900
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Re: What Did you use for Vision Tracking?
Quote:
Originally Posted by marshall View Post
We worked with Stereolabs in the pre-season to get their Zed camera down in price and legal for FRC teams. They even dropped the price lower once build season started.

We used the Zed in combination with an Nvidia TX1 to capture the location of the tower and rotate/align a turret and grab the depth data to shoot the ball. Mechanically the shooter had some underlying issues but when it worked, the software was an accurate combination.

We also did a massive amount of research into neural networks and we've got ball tracking working. It never ended up on a robot but thanks to 254's work that they shared in St Louis (latency compensation and pose estimation/extraction), I think we'll be able to get that working on the robot in the off-season. The goal is to automate ball pickup.

We'll have some white papers out before too long and we're working closely with Nvidia to create resources to make a lot of what we've done easier on teams in the future. Our code is out on Github.
I'll add that we use ZeroMQ to communicate between the TX1 and Labview Code on the RoboRIO. That turned out to be one of the least painful parts of the development process - it took like 10 lines of C++ code overall and just worked from there on.
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