Team Commando

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
• poster
  • File:TeamCommando.ppt

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

• 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

• Active Thoughts:
  • How should the camera move? currently pans 180; maybe depends on how the navigation people do room entering.