Vision Targeting for Aerial Assist 2014

[faust1706]

Originally Posted by MikeE

I agree that determining from the vision target if one of the autonomous goals is hot from a relatively defined stationary position is an easy task with already published examples.

But I don't see how you can possibly argue that tracking other robots and/or flying ball(s) is elementary. That betrays either a misunderstanding of how difficult it really is, or such a deep mastery of computer vision that you've forgotten how difficult it is to the inexperienced. I'll assume the latter.

I"m going to finish it as soon as I can so I can then outsource the code. If you do a cascade on the object, then you can calculate distance via sterio or depth. You can "measure" the distance traveled between 2 frames for this ball or robot, along with the distance on screen. Size you can assume that the robot's frame dimensions will be almost identical for every robot (or you could save that robot's dimensions when doing a cascade of them), you can measure the velocities in the other two, then use simply add all 3 and now you know it's velocity. Then you know how fast you are going to roll the ball at them, so you do a vector problem. This does assume that they will continue their speed.

The ball is a fairly easy. You already know how big the ball is (therefore its diameter). You could simply use the area of the ball to calculate how far away it is. It would take some testing, but it is very doable. Then the same math applies to the previous example.