This year the byting bulldogs once again went with a custom vision tracking system. It consisted of an openmv board, IR led ring, and a custom circuit. The trick that we went with pertaining to the IR light was to cycle the light on and off for each frame in which one frame it was on and the next the LEDs were off. This flashing would allow us to do frame differencing in order to only pick out the reflective tape. Since the LEDs were not visible to the human eye in normal operation it allows for a much brighter led source that can flash without blinding people(like the limelight does) or giving someone a seizure. This flashing of the LEDs is critical as the openmv sees IR in the same way that it sees regular ceiling lights so this flashing allows us to cancel out the ceiling lights and any other noise on the field. Overall the system worked alright however the way we implemented the system was not great as the communication between the openmv and the roborio (through a USB cable) did not work very well the serial port gave us issues where we would lose information occasionally. I do believe that this type of vision tracking could be improved upon and made to work reliably with little to no tunning on the comp field.
Vision_Paper.pdf (588.3 KB)