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#1
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CMUcam Results!
Yesterday our programmers set up the light, and set up the robot to track the light. Based on a previous post I had read (sorry i couldn't find it, i searched for a while) the camera could only find the light from a max of 20 ft. away.
After test after test, we determined that the above statement of 20 ft is incorrect. We were able to track the green light WITHOUT problems from 60 feet away! A pretty exciting find for us. So we can travel the entire field, locked on to the target at almost all times.... Anyone else have any finds they would like to share with the camera?? |
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#2
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Re: CMUcam test rules...
We were able to get 53ft with the camera not cailbrated, using the default code. It's pretty amazing what a lighted target can do.
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#3
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Re: CMUcam test rules...
We tested out to 55 ft and tracked but we noticed our tracked blob size was 1 pixel so we're not confident that the racking is exceptional. We also noted the further away we went, the camera tilted less and less (as expected) but in an attempt to quantify it we noticed that ~45-55 feet we got the same angle feedback from the camera, so yes we could track and track consistently, so we're accurate, but the precision is not very great. We're doing some analysis to figure out where we feel we can safely determine trajectories etc...
Have fun! -Terry |
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#4
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Quote:
At those distances, the angle is 25 and 20 degrees for 45 and 55 feet away respectively. That's +/-5 degrees at that distance. If this was happening at 20 and 25 feet, I would be disappointed. Feel free to answer honestly: Have I set my personal 'realistic & reliable' shooting distances of 20 feet (absolute max) too low? Matt Last edited by Matt Adams : 17-01-2006 at 00:21. |
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#5
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Re: CMUcam test rules...
Honestly, to be safe shooting from 20 feet is a very nice distance. I'm sure most teams are going to be going for some sort of range around there or closer to the target. BUT, what happens if you have an awesome defender on you, and you cannot get any closer with timing running out, maybe the only way to make a shot is to fire from 40 ft???? Even if you are not as accurate as you are when you are closer (which is a given), you can still have a CHANCE to make a shot.......If you unload all of your balls at the target, maybe you can hit a few, and turn the match around in your favor. I think having the long ball could end up winning a lot of matches!
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#6
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Re: CMUcam test rules...
One of the inputs to our design team working on the shooter is how realiable the targeting system can be. There is no need for them to try and get distance of the 40+ range if we can't target there. Realistically we're not likely to shoot anywhere near that but, and if we could it would require a great deal of investigation and effort over say a 20 foot shooter. We wanted to determine if they could grant us that type of system, could we really use it. From our testing it doesn't seem likely we could use it so our shooting distance will likely be shorter...
-Terry |
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#7
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Re: CMUcam test rules...
Quote:
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#8
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Re: CMUcam test rules...
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Depends on your noise filter settings, I think. If you totally disable the noise filter, then it may be locked on then, but you will run into other problems. We may not be shooting from 50ft away, but the camera tracking that far away means we can run full speed at our goal from the other side of the field, and be ready to shoot before we are actually in range. Saves time ![]() |
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#9
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AMAZING CMUcam Results!
Originally our team had tested the camera to track at 60 feet away, through a piece of plexiglass/lexan (for the cameras protection)...
After a few modifications to code and the camera, we went for the maximum distance we could track from...............Our camera could successfully track the green light, through a piece of lexan from .... 143 feet away!! Pics and Videos to come, its absolutely incredible.. |
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#10
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Re: CMUcam test rules...
Yes, Kevin put in a great deal of hard work and we're thankful for it. We took each measurement 6 times to verify repeatability. The first 3 were from a static state and the last the was us moving the camera to that position and having it track along the way, each time the same result was determined.
We are using Noise Filter 1. -Terry |
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#11
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Re: CMUcam Results!
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#12
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Re: CMUcam Results!
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-Terry |
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#13
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Re: CMUcam test rules...
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![]() Oh, and to the guy who thinks precision is overrated - our shooter made the goal CONSISTENTLY from ~50 ft the other night. Granted, our exit velocity might be a bit high... ![]() |
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#14
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Re: CMUcam Results!
I'm glad everyone is getting such good results. The one piece of data lacking from this thread is ambient light level. Our school recently upgraded to super-efficient (and super-bright) lights. With them on, we're tracking at 15 feet; with lights off, 30+. How bright will the arenas be?
Jon Mittelman Team236 |
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#15
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Re: CMUcam Results!
Fairly subdued lighting - we are talking about university gymnasiums for the most part. If you get it working in a room with normal light, it will work fine in the arena, probably better.
I'm surprised that you can only get 30ft with the lights off, though. |
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