Team Commando

Image Processing

• Camera
  • Logitech Orbit (on a stick)

• Software
  • http://homepages.inf.ed.ac.uk/rbf/BOOKS/PHILLIPS/cips2ed.pdf
  • Roborealm
    • useful demo: http://www.roborealm.com/tutorial/Fun_with_Roomba/slide070.php

• Method
  • attach laptop to iRobot
  • receive signal from robot when it has arrived in room via command module serial ports => matlab
  • webcam pans and roborealm scans for magenta
    • matlab checks to see if roborealm has found magenta at every degree of the pan
      • if found, places a one in the vector entry corresponding to that room

• Current dataset
  • 26 closed windows
  • 26 open windows
  • https://www.dropbox.com/sh/hx5rwp9ilakwg5c/8Yf4twUjV1

• RoboRealm
  • Color to detect: magenta?
  • attach color to bottom of window so can only be detected when open

• What We Have So Far:
  • RoboRealm module string to find magenta blobs and control Orbit
  • MatLab script that opens RoboRealm and controls camera/gets magenta detection info
  • sticker mockup
    • Media:WindowSticker.jpg

To-Do:

• • Get magenta tape
  • test Orbit in different light conditions
  • look into more filter options
    • sunglasses seemed like an option
    • Rob McSwain has been emailed about video filters
  • Figure out exact frequency of magenta and how that corresponds to hue/intensity in RoboRealm so that extraneous magenta objects are not picked up
  • Add something to MatLab script to interpret the vector once the Roomba has been everywhere
  • Test/figure out the serial port pings to MatLab
• roborealm over rtacks while panning; needs a second to get oriented
  • change matlab script to only check for blobs once camera has paused for a second.

• The Most Current To-DO:
  • Evan's going to get an LED
  • Tomorrow we are going to find the best color for detection (Wal-Mart might have good tapes)
  • We'll also fine-tune the script so the center of gravity doesn't appear when it isn't supposed to
  • We'll also talk to the nav guys and figure out serial port communication
  • Jonah is going to add pause-checks to the MatLab script so it doesn't mis-classify
  • A beautiful sticker will be designed with the specs we currently have
  • And the world shall rejoice in itself and its conservation of energy

What Works

Navigation

• Command module script:

Detecting Windows

• Matlab script:

• RoboRealm filters:
  • for at night with lights on
  • for at night with lights off and flashlight