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Mobile robot with computer vision [SOLUTION]
Verfasst: 10 Jan 2012, 00:37
von ft-ninja
Hello Folks!
Take a look at my new line follower robot KUBIKUS. This robot uses machine vision software running on Android powered smpartphone to trace a path.
01. The robot
02. Screen capture from HTC
03. KUBIKUS at work -
youtube video.
More at
my blog.
Re: Mobile robot with computer vision [SOLUTION]
Verfasst: 10 Jan 2012, 16:37
von Defiant
Is that HW accelerated (like ducati?) OpenCV?
And do you have a human readable version of your blog?
Re: Mobile robot with computer vision [SOLUTION]
Verfasst: 10 Jan 2012, 17:10
von ft-ninja
It's OpenCV for Android (
Link) without hw acceleration. The smartphone is
HTC Legend with Android 2.2.
Sorry. The blog has only human unreadable version ))
Defiant hat geschrieben:Is that HW accelerated (like ducati?) OpenCV?
And do you have a human readable version of your blog?
Re: Mobile robot with computer vision [SOLUTION]
Verfasst: 10 Jan 2012, 22:12
von Defiant
Not even details on the algorithm used? :(
Re: Mobile robot with computer vision [SOLUTION]
Verfasst: 11 Jan 2012, 09:55
von ft-ninja
The algorithm is very simple
1. Grab the image from camera.
2. Smooth the image.
3. Aplly threshold function to split the image from Step 2 to white and black regions.
4. Find contours in the image from Step 3.
5. Calculate the global centroid coordinates for all contours from Step 4.
6. Compare the result from the Step 5 with coordinate of the robots central axis. If the centroid lies to the left of the central axis - then let the robot turns left. If the centroid lies to the right - then turns right. If the centroid lies in the deadband - then move forward.
7. GOTO Step 1
Defiant hat geschrieben:Not even details on the algorithm used?
