Mobile robot with computer vision [SOLUTION]

[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.

[Defiant]

Is that HW accelerated (like ducati?) OpenCV?

And do you have a human readable version of your blog?

[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 ))

Is that HW accelerated (like ducati?) OpenCV?

And do you have a human readable version of your blog?

[Defiant]

Not even details on the algorithm used? :(

[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

Not even details on the algorithm used?