The robot , SPAWN has been built with the
odometry system , a USB interface is also built to have the exchange
of data for odometry with laptop ( new laptops don't have serial
ports , so USB was built ) . So this robot can move to any direction
, and any scale the user prompts it to with the minimal error in the
position . The position control and velocity control is done on the
host itself.
The Specifications of the various components used in the robot
1. HCTL 1100 , General purpose motion control IC for odometry .
2. PIC18F452 , odometry calculation
3. PITMANN Motors GS9234
4. 24V Power Supply ( 2 12V batteries (Lead acid) )
5. ATmega16 ( AVR-USB ) , for USB interface
6. HP Laptop , Processor ( AMD Turion 64 )
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Object Tracking in
a monoperspective view
This tracks the object based on the center of mass of it. As
long as the center of mass of the object is not aligned to
the center of image , the camera keeps tracking the object
in rotational steps proportional to the error in the
alignment. The model of the object is built initially in the
beginning and then that model is based to find that
particular object having
the subsquent frames.This has been tested with a Logitech
camera ,having a frame rate of 15 fps on a linux machine in
g++ in real time.
Multi Object Tracking in a monoperspective view
This is the project currently on going. This aims to track
multiple objects in a monoperspective view and find the 3D
direction of the object moving infront of a robot.
Ultimately it aims to move in the direction where the motion
is dense .
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Ankur Handa |
Sartaj Singh
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Dr. K. Madhava Krishna |
Tuesday February 05, 2008