First fare 2010 lab-view effectively using the camera

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First fare 2010 lab-view effectively using the camera

  1. 1. FIRSTFare 2010Effectively Using the Camera<br />Dennis C. Erickson ~ Senior Mentor for Teams 1510 and 2898<br />Daniel Bramblett ~ Team 1510<br />Amy Wiegand ~ Team 2915<br />1<br />
  2. 2. Introduction<br />Using one or more Video Cameras on a robot allows for target finding , direction to the target and distance to the target<br />Cameras can use “Masking” an/or “Shape Recognition”<br />2<br />
  3. 3. The FRC Topology<br />3<br />
  4. 4. The Video Camera<br /><ul><li>Object (Trailer) detection
  5. 5. Use to find and determine </li></ul> friend or foe<br />4<br /><ul><li>Use to determine distance and direction to flag (good distance measurement from 2 feet and up)
  6. 6. Can be used with servos to pan and tilt the camera to extend the visual bound
  7. 7. Masking provides image of only flag (can mask other defined objects as well)</li></li></ul><li>Masking Using the Video Camera<br />Note an example of masking that was used in the 2009 competition. The “Flag Location” gauge shows not only the direction to the target but also the relative size of the target which is used to determine the distance from the robot.<br />
  8. 8. Pattern Recognition<br />Viewing a target with a defined mathematical representation<br />In the 2010 competition software was designed to find a “bull's-eye” located above the goal. <br />This LabVIEW code shows how the video image is analyzed and the SubVI returns the target information including position, the score and from the minor to major radius ratio, the angle offset<br />
  9. 9. Other Video Methods<br />The One other method used to locate a target is to use frame grabbing to compare a known image (complex shape) with a “stored” replica of the target.<br />This might include a face, a ball, a hockey puck, etc.<br />This might be used in a future game as it seems that cameras are playing an accelerated part in game playing<br />
  10. 10. Questions?<br />Dennis C. Erickson - dcerickson1@comcast.net<br />

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