Submitted version of the thesis - Airlab, the Artificial Intelligence ...

More documents

Recommendations

Info

54 Chapter 5. Vision Figure 5.2: Perspective projection in a pinhole camera means the object can be represented by a X,Y,Z position in the world coordinate system, with Z=0. This reduces the transformation into a 2D-2D transformation, and needs a new H matrix. We need to calculate the transformation matrix between the robot and ) coordinates. The transformation matrix between world frame camera (TR C andcamera(T C W )coordinatesisknownfromtheexternalcameraparameters. The world frame to robot frame transformation matrix TR W is calculated by the target object position and robot center (shown in Figure 5.3). TR C is derived as follows: T R C = TR W ∗TW C For the ball localization case, the calculation is made for the pixel diameter Dpx of the ball at known distance l and the real diameter Dball. For the camera, we introduced a parameter f ∗ , to indicate the dimension of a unit pixel, which is a statical parameter of the camera. Using this information, the distance of the ball lnew can be calculated by counting the pixels of the diameter of the ball Dpx and by multiplying this by f ∗ . f ∗ = l ∗Dpx Dball lnew = f∗ ∗Dball Dpx The next step is converting the direction from camera to the ball −−−→ d c ball
5.1. Camera Calibration 55 Figure 5.3: Camera robot world space into the direction vector, and its normalized vector −−−→ d c norm in order to find the direction from camera plane to the ball. −−−→ d c ball = K -1 ∗ −−−→ d c norm = ⎡ ⎤ u ⎢ ⎥ ⎣v⎦ 1 −−−→ d c ball | −−−→ d c ball| From the direction −−−→ d c norm and the line lnew, the point P c ball that is 3D homogeneous coordinates of the points with respect to camera. � lnew ∗ −−−→ � P c ball = d c norm 1
Page 1:
POLITECNICO DI MILANO Corso di Laur
Page 5:
To my family...
Page 9:
Summary Aim of this project is the
Page 13 and 14:
Contents Sommario I Summary III Tha
Page 15 and 16:
List of Figures 2.1 The standard wh
Page 17 and 18:
Chapter 1 Introduction 1.1 Goals Th
Page 19 and 20: 1.4. Thesis Structure 3 tailed desc
Page 21 and 22: Chapter 2 State of the Art Advances
Page 23 and 24: 2.1. Locomotion 7 provides low resi
Page 25 and 26: 2.1. Locomotion 9 Figure 2.4: Diffe
Page 27 and 28: 2.1. Locomotion 11 Omnidirectional
Page 29 and 30: 2.2. Motion Models 13 2.2 Motion Mo
Page 31 and 32: 2.4. Games and Interaction 15 a 2.5
Page 33 and 34: 2.4. Games and Interaction 17 We in
Page 35 and 36: 2.4. Games and Interaction 19 lot o
Page 37 and 38: Chapter 3 Mechanical Construction W
Page 39 and 40: 3.2. Motors 23 The initial design o
Page 41 and 42: 3.2. Motors 25 Figure 3.3: The calc
Page 43 and 44: 3.3. Wheels 27 target surface, maxi
Page 45 and 46: 3.5. Bumpers 29 Figure 3.8: Three w
Page 47 and 48: 3.6. Batteries 31 itself also works
Page 49 and 50: 3.7. Hardware Architecture 33 In sh
Page 51 and 52: 3.7. Hardware Architecture 35 The s
Page 53 and 54: 3.7. Hardware Architecture 37 With
Page 55 and 56: Chapter 4 Control The motion mechan
Page 57 and 58: 4.1. Wheel configuration 41 Figure
Page 59 and 60: 4.2. Matlab Script 43 This is case
Page 61 and 62: 4.2. Matlab Script 45 Mixed Angular
Page 63 and 64: 4.3. PWM Control 47 acollision, suc
Page 65 and 66: 4.3. PWM Control 49 mentioned previ
Page 67 and 68: Chapter 5 Vision The vision system
Page 69: 5.1. Camera Calibration 53 the prin
Page 73 and 74: 5.1. Camera Calibration 57 Later, i
Page 75 and 76: 5.2. Color Definition 59 warmer (ye
Page 77 and 78: 5.2. Color Definition 61 Anotheraut
Page 79 and 80: 5.2. Color Definition 63 9000 8000
Page 81 and 82: 5.3. Tracking 65 any color values.
Page 83 and 84: Chapter 6 Game The robot will be us
Page 85 and 86: • Initialize sensors • Initiali
Page 87 and 88: If the camera is set to SERVO MID,
Page 89 and 90: Chapter 7 Conclusions and Future Wo
Page 91 and 92: ior, which will be useful in the re
Page 93 and 94: Bibliography [1] Battle bots-http:/
Page 95 and 96: BIBLIOGRAPHY 79 [25] Han et al. A n
Page 97 and 98: Appendix A Documentation of the pro
Page 99 and 100: Figure A.2: The flow diagram of the
Page 101 and 102: Appendix B Documentation of the pro
Page 103 and 104: B.1. Microprocessor Code 87 /* Conf
Page 105 and 106: B.1. Microprocessor Code 89 #ifdef
Page 107 and 108: B.1. Microprocessor Code 91 Set_Spe
Page 109 and 110: B.1. Microprocessor Code 93 TIM_DeI
Page 111 and 112: B.1. Microprocessor Code 95 /* Expo
Page 113 and 114: B.1. Microprocessor Code 97 RGBCube
Page 115 and 116: B.1. Microprocessor Code 99 /* Incl
Page 117 and 118: B.1. Microprocessor Code 101 #endif
Page 119 and 120: B.1. Microprocessor Code 103 } void
Page 121 and 122:
B.1. Microprocessor Code 105 GPIO_I
Page 123 and 124:
B.1. Microprocessor Code 107 /* Sta
Page 125 and 126:
B.1. Microprocessor Code 109 } Inve
Page 127 and 128:
B.1. Microprocessor Code 111 #inclu
Page 129 and 130:
B.1. Microprocessor Code 113 /* * M
Page 131 and 132:
B.1. Microprocessor Code 115 b[1] =
Page 133 and 134:
B.1. Microprocessor Code 117 } * (B
Page 135 and 136:
B.1. Microprocessor Code 119 #defin
Page 137 and 138:
B.2. Color Histogram Calculator 121
Page 139 and 140:
B.3. Object’s Position Calculator
Page 141 and 142:
B.3. Object’s Position Calculator
Page 143 and 144:
B.4. Motion Simulator 127 0 0 0 0 0
Page 145 and 146:
B.4. Motion Simulator 129 if (plot
Page 147 and 148:
B.4. Motion Simulator 131 fill (m a
Page 149 and 150:
B.4. Motion Simulator 133 end text(
Page 151 and 152:
Appendix C User Manual This documen
Page 153 and 154:
C.1. Tool-chain Software 137 Figure
Page 155 and 156:
C.2. Setting up the environment (Qt
Page 157 and 158:
C.3. Main Software - Game software
Page 159 and 160:
Appendix D Datasheet The pin mappin
Page 161 and 162:
Figure D.2: The schematics for the
show all

Submitted version of the thesis - Airlab, the Artificial Intelligence ...

Create successful ePaper yourself

Delete template?

Save as template?