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
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.
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
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