Overview

The Vision subsystem uses two cameras to detect many different things during each run. One of the cameras is solely dedicated to looking downwards and the main functions of that camera is to detect the orange path and detect the bins. The other camera is dedicated to looking forwards and the main functions of that camera is to track and line up with the buoy and the air duct. The cameras that we are using this year are the CMUcam 3. Each camera has its own board dedicated to processing the images coming in from each of them.

The CMUcam 3 boards are interfaced into the Central Command & Control board through serial ports. This allows for Central Command & Control to either directly access the information being processed by the CMUcam board or throw the information into registers for use in more complex algorithms.

• VIS-01: Detect Orange Path Position & Direction.
• VIS-01-01: Write algorithm to detect the color orange. – 04.01.08
• VIS-01-02: Write algorithm to detect the center of the path. – 04.08.08
• VIS-01-03: Write algorithm to detect the direction of the path. – 04.15.08
• VIS-02: Detect Buoy.
• VIS-02-01: Write algorithm to detect omnidirectional light. – 04.08.08
• VIS-02-02: Write algorithm to detect location of the light. – 04.15.08
• VIS-03: Detect Air Duct Opening and Relative Position.
• VIS-03-01: Write algorithm to detect the two different colors marking the air duct. – 04.15.08
• VIS-03-02: Write algorithm to detect the center between the two lights. – 04.15.08
• VIS-04: Detect Location of Target Bins.
• VIS-04-01: Write algorithm to detect white border around black box. – 04.22.08
• VIS-04-02: Write algorithm to detect center of white bordered box. – 04.22.08
• VIS-04-03: Write algorithm to detect symbols within the black box. –04.22.08
• VIS-05: Test and Detect in Pool.
• VIS-05-01: Test and Detect Orange path. – 04.29.08
• VIS-05-02: Test and Detect Buoy. – 04.29.08
• VIS-05-03: Test and Detect Air duct. – 04.29.08
• VIS-05-04: Test and Detect Target bins. – 04.29.08