Subject:
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RE: Bot vision
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Newsgroups:
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lugnet.robotics.handyboard
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Date:
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Sat, 27 Jul 1996 01:38:06 GMT
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Original-From:
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Chuck McManis <CMCMANIS@saynotospamFREEGATE.NET>
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Viewed:
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1710 times
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The limits on available user ram will make this difficult at best. If you can assume a 4K
byte buffer for your image, that is only 64 pixels on a side, not much to work with.
There are a couple of possible solutions however. One is the "ImageWise" camera that
Steve Ciarcia designed a long time ago, this captures to a dedicated micro that connects
to the host via a serial port. In this configuration the Handyboard would communicate with
the camera board via a serial interface, leaving the image data on the dedicated micro and
only manipulating the pixels as it needed. Of course the design of the dedicated micro is
such that as long as you are going to do that, might as well make it a full fledged machine.
Note that some versions of the Connectix "eyeball" camera are also serial based. They
may be the modern equivalent of Steve's system.
Using a camera with the HB will require some extremely creative thinking as the computing
horsepower of the 6811 is generally not considered up to the task. There have been things
like the BugEyes project (bsmall@sfrsa.com) that was trying to mimic insect eyes, and
of course the RAM chip
based things. I personally think a more subsumption approach might be feasible, using a
stereo camera system and something like a dedicated ARM system to compute spatial
coordinates in three space. The interface to the HB would then be in the form of a vector
space representing edges in the environment surrounding the robot. This is a little bit like
what Shakey did at SRI and that robot used the spatial information to compute navigation
vectors through the environment.
All in all it might be more practical to come up with a phased array sonar to explore the
environment.
There is however one really neat application of cameras with HBs (but you don't need to
interface to the HB) which is to attach a camera and a video transmitter to your robot
and then pilot it from your computer while watching a monitor. This can be quite fun.
I've found that for "near" experiences, using the Rabbit TV Transmitter works great for
this (substitute two 9v batteries in series for the wall-wart supply).
--Chuck
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From: Oriol De Los Santos[SMTP:osantos@ee.utah.edu]
Sent: Friday, July 26, 1996 11:39 AM
To: Larry Randall
Cc: handyboard@media.mit.edu
Subject: Re: Bot vision
On Wed, 24 Jul 1996, Larry Randall wrote:
> Has anyone tried using a CCD vision system with HandyBoard? If so I
> would like to know what you are using and how you went about it.
I4m also interested in interfacing a CCD chi with the handy board. I have
no previous experience with this particular component and I would
appreciate any references that may help me get started. So far I just
understand the basic operation but have never seen specs or aplications
notes for such a component.
Thanks
Oriol
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Message has 1 Reply:
 | | RE: Bot vision
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| (...) This sounds more like what I was thinking of. I whanted the robot to be able to capture still pictures and send them through a digital link to the host computer. The idea was to design an expansion board for the HB that captured an imageand (...) (28 years ago, 27-Jul-96, to lugnet.robotics.handyboard)
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