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Special Sensor CMU Camera 3

This project outlines the development of a mobile robot designed to play paper football against human opponents. Utilizing the CMU Camera 3, the robot features an integrated system with a mobile platform and actuation capabilities. The camera, mounted on a servo, enables tracking the football through color detection and edge detection techniques to determine its orientation. The experimental layout and results demonstrate the functionality and reliability of this setup, suggesting that CMU Camera 3 is well-suited for this application.

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Special Sensor CMU Camera 3

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  1. Special SensorCMU Camera 3 Hard 1 John Kurien 3/19/09 Instructors: A. Antonio Arroyo, Eric M Schwartz TAs: Thomas Vermeer, Mike Pridgen

  2. Outline • Introduction • Plays Paper Football Against Human • Integrated System • Mobile Platform/Actuation • Sensing and Behavior • Experimental Layout and Results • Conclusion

  3. Integrated System

  4. Mobile Platform/Actuation • Camera will be mounted on top of the robot in the front • Camera will tilt by being mounted to a servo

  5. Sensing and Behavior • Hardcode the color of the football • Use the track function to track the football • Use edge detection to determine orientation of football

  6. Sensing & Behavior (Environment)

  7. Experimental Layout & Results Original Grabbed Frame Color Track Color Track with possible confusion

  8. Actual Color Tracking

  9. Conclusion • CMU Cam 3 looks to be a good choice • Software seems reliable and functional for my requirements • Always the option of writing my own software

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