• Object (Trailer) detection • Use to ﬁnd and determine friend or foe • Use to determine distance and direction to ﬂag (good distance measurement from 2 feet and up) • Can be used with servos to pan and tilt the camera to extend the visual bound • Masking provides image of only ﬂag (can mask other deﬁned objects as well) 4
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.
Viewing a target with a deﬁned mathematical representation In the 2010 competition software was designed to ﬁnd a “bulls-‐eye” located above the goal. 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
Viewing a target using Color, Threshold, Filtering and Particle Analysis . Note the 3 poles with Retroreﬂective tape
Illuminating the scene with a red LED array shows only the tape
Particle Analysis “discovers” the tape and software determines the position of the tapes
In 2011 the goal was to launch a small robot when the light came on at the bottom of the pole. The camera could have sensed the light much faster and automatically launched the robot before a human could. If the camera software failed then the human would be the backup
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. This might include a face, a ball, a hockey puck, etc. This might be used in a future game as it seems that cameras are playing an accelerated part in game playing