Subject:
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Re: 2D positioning ???
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Newsgroups:
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lugnet.robotics
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Date:
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Fri, 10 Dec 1999 04:04:48 GMT
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Viewed:
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532 times
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In lugnet.robotics, Michael Yates writes:
> I realise this is an open ended question but I will ask anyhow.
>
> We (as I have mentioned a number of times, probably maing in RCX newsgroup)
> have
> 6 RCX's that we wish to make into a demo for school kids.
>
> Ideally that demo would involve some sort of cooperation. To achieve this we
> need to know where each robot is relative to the other robots. We can do one
> dimensional position control using a gradient fill pattern from one end of the
> "arena" to the other. It is the second dimension which has us stuck.
>
> At this point we really don't have a concrete idea of what our demo will be
> (ideas accepted and appreciated) but it seems that any sort of cooperative • task
> is going to require relative position information.
>
> Has anyone out there used an overhead mounted camera to do this sort of thing?
> Was it sucessful? We were reading about the roboCup soccer and the overhead
> camera thing was the method they used. However we are not sure what sort of
> resources (time and hardware) would be required to pull this level of image
> manipulation and calculations off.
With an overhead camera you may find it easiest to use the IR port on the RCX
to beacon the robots position. With the coordinating PC sending out a poll
message addressed to individual robots. Most video see IR signals very well
and a simple frame grabber followed by a scan, similiar to how a light pen
works (in reverse) could be used for a 2d position. Orientation of the robot
will be a little more difficult, perhaps another IR source on the far side
triggered after the inital poll?
Otherwise you will need to put an easily visible unique pattern on the top of
each robot, grab a frame, and perform pattern recognition. I don't know if the
vecoterization software available will work well with the limited resolution of
a video camera, perhaps if each robot was shaped differently?
>
> Any ideas and help appreciated
Those were two, good luck. I am waiting on delivery of my RIS 1.5.
Brent Rager
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Message has 2 Replies:
 | | Re: 2D positioning ???
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| (...) the (...) You can use a horizontally-polarized fill light in one direction and a vertically-polarized fill light in 'tother. Then the strength and the amount of one vs. the other will locate you. You can also use differently polarized beacons, (...) (25 years ago, 10-Dec-99, to lugnet.robotics)
| | | Re: 2D positioning ???
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| (...) In RoboCup, each robot has a ping-pong ball mounted on top. I found one example of how to find orientation from one of the Cornell teams. They mounted an additional marker in a fixed offset from the ping-pong ball. When they did the image (...) (25 years ago, 10-Dec-99, to lugnet.robotics)
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Message is in Reply To:
| | 2D positioning ???
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| I realise this is an open ended question but I will ask anyhow. We (as I have mentioned a number of times, probably maing in RCX newsgroup) have 6 RCX's that we wish to make into a demo for school kids. Ideally that demo would involve some sort of (...) (25 years ago, 8-Dec-99, to lugnet.robotics)
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