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IEEE Robot Team Vision System Project Michael Slutskiy & Paul Nguyen ECE 533 Presentation Mission Navigate 150lb Robot Through Obstacle Course Vision System Objectives Find parts of image that the robot should not drive into

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IEEE Robot Team

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Presentation Transcript


IEEE Robot Team

Vision System Project

Michael Slutskiy & Paul Nguyen

ECE 533 Presentation


Mission

  • Navigate 150lb Robot Through Obstacle Course


Vision System Objectives

  • Find parts of image that the robot should not drive into

  • Map these parts and send them to the artificial intelligence system

  • Attempt to distinguish between physical objects and 2 dimensional images on the ground


Success


Some Combinations


  • Binarize (note the salt and pepper noise)

  • Clean up image using a 5x5 Median filter

  • Use Sobel edge extraction and Hough transform to pick out lines

  • Get an image from the camera approx. 15fps

  • Filter out orange

  • Extract the blue plane for the dynamic thresh.


Tarps


Pass Image to AI

This is the target location for the robot to navigate to in this frame.


Extensions

  • Complete color segmentation

    • Aid with tarps and texture noise

    • Potentially better than current threshold

  • Template matching

    • Help separate objects from lines

  • Multi-image operations

  • World mapping

    • Planning AI instead of reactionary AI


Questions, Comments, Suggestions?

Visit www.cae.wisc.edu/~ieeerobo for more info or send us an email at ieeerobo@cae.wisc.edu


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