Subject:
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Re: cybermaster
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Newsgroups:
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lugnet.robotics
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Date:
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Thu, 3 Aug 2000 15:55:28 GMT
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Original-From:
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Marco C. <marco@soporcel.#stopspam#pt>
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Viewed:
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990 times
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Hi Laurentino :)
As you know (if you remember) I also have a CyberMaster.
I prefered the RF-link to the IR-link, primarily because of the mobility
and freedom it would give to the robot, and the processing power of the PC.
My current (looong) project is exactly that, of using Robotic Vision as a
component to the robot guidance system. Landmark recognition by vision,
crude obstacle detection by analising the glare intensity and distance
between a pair of small flash lights mounted on the robot and everything
else I might come up to, in the process.
As we all know, these "complex" projects have to be done one step after
another.
I don't know if you ever saw any of my postings about this, but, since
you're using MS VC++ and dealing with realtime image processing, have you
ever used a very good image/video-processing lib by Pong Suvan ?
http://www.ccs.neu.edu/home/psksvp/download.htm
The movingblob() was one I planed to use on a sub-project: "Target"
following, with the robot simply controlling the up/down, left/right
rotation of the cam.
If you didn't already, check this list:
http://www.cs.cmu.edu/afs/cs/project/cil/ftp/html/vision.html
My main problem right know: the european (PAL) version of XCam I was
planing to use for wireless color feedback to the PC (through my video-in
card), costs 249.00 EUR (www.edentronic.com) = $225.25 USD = 56000$00 PTE
(at www.xkt.pt) instead of the original NTSC version, $88 USD (www.x10.com)
:(
Guess I'll have to go for a cheaper option instead... an USB webcam. :/
At 11:27 03-08-2000 +0100, Laurentino Martins wrote:
> At 10:47 03-08-2000 Thursday, KovacsJ@olajterv.hu wrote:
> > Hi! I've read the article you wrote the robotics list!
> > I also have cybermaster and want to design something similar. My question
> > is, do you lost everything? DOn't have a description or something else?
> > It's long time to do it from start! Cybermaster is much better then rcx,
> > because of communicating with radio.
> > Do you have a suggest how can i start this project!
>
> Here some advices:
> 3. Know how to use the tachometers. Know how to rotate the bot any angle
using only the motors and monitoring the tachometers. It's very precise,
but has to be done in the bot side.
> As a bonus you should know how to calculate speed and how to detect • impacts even without a single touch sensor. It works very well.
> It can even detect when the bot tries to climb something too steep.
> 4. Read about odometry. I can't find the link, but there is a nice PDF in
the net that explains everything you need to know about odometry. Is
someone knows the link, please post.
> The implementation is linear. You have to use the two odometers to know
the rotation the bot is describing. You'll have to average the last two or
tree reading to have a precise reading due to fluctuations the readings
sometimes display.
> 5. Be prepared to deal with odometry errors and how they accumulate thru
time. You can do little to improve the accuracy. The type of the floor
influences greatly the accuracy.
> You better concentrate your efforts on how to auto-correct the PC routines
instead: I mean, if an impact was detected at point X and a previous impact
was detected at point Z which is beyond the X, that means that probably the
X is the same as Z (or otherwise the obstacle moved).
> This was my most rewarding project ever done with the CyberMaster.
> Good luck! :-)
> ......
> My current project:
> I've mounted a web camera in the CyberMaster. I've bought a 5m cable (USB) • and have let it free.
> The tracks have lots of traction and can keep up dragging the cable after • the bot without (much) influence in the bot direction.
> I've managed to capture the camera image in the PC (in M$ Visual C++) and • right now I'm working in an image recognition algorithm.
> The idea was not to use odometry, but to use the camera image to track • landmarks, like a line drawn in the floor, walls, etc.
> I'm stuck in the recognition algorithm - out of ideas.
____________________
Marco C. aka McViper
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