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vision.md

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title Vision
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Notes

leading team motion and vision platforms

  • team 900 zebracorn
    • hardware:
      • StereoLabs’ ZED Stereoscopic Camera
      • Custom 3D printed green LED "ring" case enclosure for camera and Buck Boost Converter to eliminate flicker
      • nVidia Jetson TX2 connected via USB
      • NavX-MXP Gyro
    • ROS w/ C++
    • images down sampled by 1/2 from 720p to reduce computational overhead

image acquisition

  • tuning of exposure and brightness to minimum settings to isolate for reflected bright LED light
  • use of navx clock for timestamps shared between co-processor and roborio (avoid time sync)
    • zebracorns 2017VisionCode/zebROS ws/src/navx publisher/

image processing

target identification

data calculation

  • Coordinate translation between frames of reference
    • robot center x,y,z
    • camera center x,y,z
    • mounting point x,y,z
    • odometry: where robot has moved since last initialized
    • map: track robot's pose with respect to global map
  • Translate target location from image based x, y, and calculated depth to real-world values:
    • distance from target
    • sideways (mis)alignment of target in relation to robot
    • vertical (mis)alignment of target in relation to robot
    • angle robot needs to turn for on target heading
    • timestamp point-in-time at which preceding data was accurate for latency compensation

data transmission

Resources