paper: ZebraVision 3.5 – Team 900

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ZebraVision 3.5 – Team 900
by: ForeverAlon

Zebravision 3.5 is Team 900’s work done in the postseason of 2015 and preseason of 2016. Our focus has been finding new ways to gather information about our robot’s surroundings. We have been working to integrate the StereoLabs ZED, a stereoscopic camera, into the 2015 vision system with the Jetson TK1.

Zebravision 3.5 is Team 900’s work done in the postseason of 2015 and preseason of 2016. Our focus has been finding new ways to gather information about our robot’s surroundings. We have been working to integrate the StereoLabs ZED, a stereoscopic camera, into the 2015 vision system with the Jetson TK1 using OpenCV. Special thanks to Stereolabs for providing support and assistance as we tested and integrated the ZED into our own work. We could not do this without their support!

Zebravision 3.5.pdf (402 KB)

Zebravision 3.5 is Team 900’s offseason project to integrate the StereoLabs ZED camera with the Jetson TK1 DevKit and ZebraVision 3.0 code. With the help of StereoLabs we successfully used the ZED sterescopic camera to make our bin recognition and localization code from last year more accurate. We consider this a great start to the area of localization and mapping in FRC. This paper details what we did and how we did it, as well as offering a tutorial so that other teams can use this application. All source code is public and in team 900’s 2015 Vision Code Repository on GitHub. The code specifically relating to this whitepaper is in a separate branch (the “zed” branch). If you have any questions please post here and someone who worked on this will respond.

Video from Rumble in the Roads: https://www.youtube.com/watch?v=ZQVaBchTa7s

Excellent - thanks for making this available. Awesome!

One more update. We weren’t sure if we were going to get to announce this or not but we are! Stereolabs has generously agreed to provide a discount to ALL FRC teams on the ZED. Similar to other FRC discounts though, I can’t tell you the amount but what I can say is that the fair market value for the camera is within the price cap for COTS items per the 2015 rules. Email Stereolabs support if you’re interested: support@stereolabs.com

Wow, thanks for removing the one barrier to adopting the Zed stereo camera technology for use on a FIRST robot - really appreciate your working with Stereolabs to enable this!