Software design innovation: to catch a ball. Joseph martin. It takes a team. Building a robot requires skills across many disciplines 6 weeks isn’t very much time Creating a robot requires lots of experience; more experienced members must share their experience with newer members.
2x BeagleBone Black, each with a 1GHz ARM Cortex A8 CPU
USB ports for USB cameras
Ethernet ports for communication with cRIO
Custom case to easily mount both BeagleBones
Original image, straight from the camera. For the purpose of finding the ball, it is converted to the HSV colorspace.
Histogram backprojection, based on a histogram of the ball. Bright where colors closely match those of the ball from calibration images.
Binary image that is a combination of figures b and c. Highlighted in green is the contour that is determined to most likely be the ball.
Histogram backprojection, based on a histogram of the background. Bright where colors closely match those in the background in calibration images.
Adapted from Chapman’s 1968 paper, Catching a Baseball