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# Presentation sim opencv

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Simulation using OpenCV

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### Presentation sim opencv

1. 1. Simulation with Computer Vision Andres Fernandez
2. 2. Outline ● Computer Vision – Algorithms – Object Tracking Technique ● Robot Simulation
3. 3. Computer Vision ● Hough Transform Circle ● Smallest-circle
4. 4. Hough Transform Circle ● Detects circles ● Outputs the X and Y coordinates ● Outputs the radius
5. 5. Smallest-circle ● Finds circles ● Outputs the X and Y coordinates ● Outputs the radius ● Finds the smallest circle out of all circles
6. 6. Computer Vision Object Tracking ● Changing the environment to make calculations easier ● Detecting circles using Hough Transform Circle ● Using the output to feed into simulation
7. 7. Changing the environment ● Environment color change from RGB to HSV ● HSV stands for Hue Saturation Value ● Hue – Color shown ● Saturation – Color intensity ● Value – Color brightness
8. 8. Changing the environment Source: http://en.wikipedia.org/wiki/File:Hsl-hsv_models.svg
9. 9. RGB vs. HSV
10. 10. Hough Transformer Circle ● Needs three parameters (x, y, r) ● ● Changed the equation to find x and y as the center (x−a) 2 +( y−b) 2 =r 2 x=a+R cos(θ) y=b+R sin(θ)
11. 11. Hough Transformer Circle ● An 2-dim accumulation array keeps track of the number of intersections ● The pixel with highest count is considered to be center of the circle ● w = width, h = height O(wh(δ R)) δ R=(MaximumRadius−MinimumRadius)
12. 12. Hough Transformer Circle
13. 13. Simulation ● A simple 2D animation of a box ● The box represents a robot which follows an object of interest ● The velocity is fixed ● The turning velocity can be changed in the GUI
14. 14. Simulation