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#31
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Re: Tracking Rectangles
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#32
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Re: Tracking Rectangles
My team is currently considering a single-board computer on the robot. You can get an excellent multi-core Intel Atom-based computer from http://www.logicsupply.com/ for a few hundred dollars. We've already checked with one of our regional inspectors and this would be completely allowed. The design would be:
Axis M1011 --> D-Link --> Atom (MJPEG stream) Axis M1011 --> D-Link --> Wireless --> Driver Station (MJPEG stream) Atom --> D-Link --> CRIO CRIO <--> D-Link <--> Wireless <--> Driver Station CRIO --> Robot electro/mechanical bits The Atom would run a program (Labview, custom, whatever) that processes the image feed in real time and uses the network to talk to the CRIO. The CRIO would use this information internally to determine shooting solutions and send needed data down to the driver station so drivers know what's going on and what it's thinking. The idea behind this is that it removes both the wireless network and the CRIO from the image processing loop at the expense of another piece of electronics in the system. The added horsepower comes at added complexity. The assumption though, correct or otherwise, is that an industrial-ish single-board PC is reliable and the code on the CRIO and driver station can still work great even if image processing fails. The specific configuration I listed above also keeps us with video feed unless the camera itself fails. Only time will tell if it's a good idea or not ![]() -Mike |
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#33
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Re: Tracking Rectangles
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The board may be COTS, but the battery is no longer "integral to and part of", and thus not an allowable battery. |
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#34
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Re: Tracking Rectangles
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#35
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Re: Tracking Rectangles
Actually, many single board computers have a power supply designed for car use where they can take from 6v to 24v. The power supply we are using does this for instance, making it well suited to the robot.
-Mike |
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#36
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I have wanted to design a vision system to work like that and calculate the distance from the target without range sensors or any other sensors. I also wanted to skip the Kinect because of how hard it is to interface to the robot, and it's slow speed. This is exactly the routine that I wanted to do. Now, I know how to implement it. Thank You!
Also, if I am not wrong, does it follow the laws of perspective that explain how an image looks smaller as it is farther away from your eyes, in this case, the camera. Here's and O: O Look at it up close. doesn't it look large? Now look at it five feet away. It should look much smaller now. If I am not wrong, I think that is how this is supposed to work! ![]() |
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#37
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Re: Tracking Rectangles
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Anyways. Is anyone doing anything with vision this preseason? I've been working with some professors at wash u, Missouri s&t, and harvey mudd to make a camera pose estimation with a known rotation matrix. Turned out to be a lot more math intensive than the 3 of us first thought...the program will be done before build season and I'll have it up online somewhere so whoever is welcome can look at it. I'll make it as....educational as I can with comments, but comments can only do so much (which turns out to be a lot). If it is another game where there is reflective tape that can be used to assist in scoring, which there has been every year I've been in FIRST (starting with logomotion), then I'll put up a working vision code that returns distance on the x-z plane and x-rotation to the center of the target at a reasonable time during build season. |
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#38
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Re: Tracking Rectangles
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#39
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#40
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To isolate the rectangle, could I use a very high exposure rate camera, to reduce blur and to reduce the extraneous light, and have a very powerful light highlight the goals? Thresholding should get rid of the spare pieces, then binary conversion, then erode and dilate, then the other stuff done to find one box?
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