Difference between revisions of "Team Commando"

Revision as of 18:13, 1 May 2012

To Do

• command module navigation (Daniel and Matt)
• image processing (Steph, Evan, Jonah)
• decide on a camera
• abstract
  • https://docs.google.com/document/d/1YrS9Ua821oJdYNquYGewYql7AsK0MqUhzOm-0q8JxM8/edit

Navigation

Image Processing

• camera
  • simple webcam!

• software
  • matlab toolbox
  • 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
  • use laptop to take image
  • process image to determine whether or not a window is open

• 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

• to-do:

-figure out physical orientation of computer/camera

-build training set: every possible window configuration

-figure out how to get the images... opencv documentation: http://opencv.willowgarage.com/documentation/cpp/features2d_common_interfaces_of_feature_detectors.html, http://opencv.willowgarage.com/wiki/CameraCapture

-decide on preprocessing method: threshhold, line detection, contrast upping, pulling out the windows, or doing none of that and trusting the neural net.

-figure out how to get the command module to tell comp when to take a picture

-get the neural net trained and tested

• Active Thoughts:

-RoboRealm seems sweeeeell.

interface with MATLAB: http://www.mathworks.com/matlabcentral/fileexchange/22882

-current plan-ish:

roborealm does processing and recieve signals from command module via serial port, then sends processed images ot matlab for NN classification. BOOM.