Software design innovation to catch a ball
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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.

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Software design innovation to catch a ball

Software design innovation:to catch a ball

Joseph martin


It takes a team
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


The vision co processors
The vision co-processors

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

Convenient 5v

Power Connections


Locating the ball with dual histogram backprojection
Locating the ballWith Dual Histogram Backprojection

a

b

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.

d

c

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.


Catching the ball using chapman s observation
Catching the Ballusing chapman’s Observation

Fig 1

Adapted from Chapman’s 1968 paper, Catching a Baseball

Fig 2

B

A


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