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View Full Version : Call to all vision robots



WGhost9
03-26-2009, 09:50 AM
Hello everyone, I am a long time roboticist, but this is my first time dabbling with vision in one of my projects (not including PC based machine vision courses). I am curious what robot vision projects, based on consumer microcontrollers and cameras, have worked in the past . If you have built or know of a custom-built vision robot, please post about it. What kind of camera/microcontroller did you use? Was the interface easy/hard to develop? What kind of frame processing were you able to achieve and at what speeds? Thanks very much for any info you provide :)

Adrenalynn
03-26-2009, 10:07 AM
Welcome to the forum!

Wow. That's a rather extensive thesis you're looking for. How about telling us what you want to do and we offer advice? :)

lnxfergy
03-26-2009, 12:03 PM
Vision + microcontroller = tough. Most people's microcontrollers around these parts are of the 8-bit AVR/PIC variety. You aren't gonna do much vision with an 8-bit AVR. The AVRCam (http://www.jrobot.net/Projects/AVRcam.html) is an open source color-based blob-tracking sytem, it pretty much maxes out the processor to do 30fps and serial output of x,y position of up to 8 blobs.

If you move up to a lower-end ARM-like ~60MHz processor, then more is available. The scribbler+fluke+myro combination (http://wiki.roboteducation.org/Myro_Hardware) does some very basic processing (again, mostly blob tracking, but it could do more, they just haven't written the code).

If you move up to a PC/high-end-embedded controller, then the sky is the limit. But yeah, as Adrenalynn said, we need to know more, before we can really say more...

-Fergs

Eric
03-26-2009, 12:17 PM
Don't forget the full blown version. Just using a laptop for the processing. MIT slapped some laptops on some roomba devices for this. serious vision processing = serious processors.
http://www.physorg.com/news155904807.html

WGhost9
03-26-2009, 12:25 PM
Well for my part, I am interested in doing some facial tracking, since this projects goal is to have a pet-like robot with an endearing personality. I have done facial recognition once before from a laptop, but am now interested in a microcontroller-based application. I am also interested in doing a laser distancer at some point in the future.

At this moment though I am open to inspiration from all corners and would like to here about other peoples experiences with vision in order to get an idea of what my options may be :happy:

lnxfergy
03-26-2009, 12:34 PM
Locating faces in an image (ala blob tracking techniques) is probably do-able on a microcontroller. Facial recognition on a micro is almost certainly not.

Any idea what micro you plan to use?

-Fergs

lnxfergy
03-26-2009, 12:35 PM
http://www.surveyor.com/blackfin/index.html this is probably one of the best options out there for a micro-based vision system.

-Fergs

WGhost9
03-26-2009, 12:42 PM
Well i am very tempted to try the Roboard, because it easily is emulated by my PC (being a PC itself) (http://www.trossenrobotics.com/roboard.aspx?a=blog), but I am also debating the merits of a Blackfin or arduino.

The downside of the Roboard is that I seem limited to finding a usb or serial camera to connect to. The CMU cam seems to be the only serial-port camera system available, while in the realm of USB cameras, I am having a hard time finding something with open source drivers.

lnxfergy
03-26-2009, 01:17 PM
That CMU Cam won't be able to output images to you at anything greater than about 1fps (and at something like 176x144)

-Fergs

Ironman
03-30-2009, 07:44 PM
Video 4 Linux 2

has a list of all the cameras that have free drivers that are supported on most linux systems.