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Finding Visual Landmarks with E-Puck robots Loc SEGAPELLI - - PowerPoint PPT Presentation
Finding Visual Landmarks with E-Puck robots Loc SEGAPELLI - - PowerPoint PPT Presentation
Finding Visual Landmarks with E-Puck robots Loc SEGAPELLI Introduction Webots A group of e-puck robots Each one has a camera They are looking for a blue light They must use their camera only! Collaboration Example
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Example
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Algorithm
Robot turn 360º , takes 6 photos One robot sees the blue light:
Turns on its red leds Waits Goes to the light source
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Algorithm
Another robot sees red leds:
Turns on its red leds -> chain reaction Waits Goes to the red light source
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Blue light detection 1
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Blue light detection 2
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Blue light detection 3
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Blue light detection 4
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Blue light detection 5
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Blue light detection 6
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Blue light detection 7
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Image segmentation
One picture = 1 min! Get the most from one photo Vertical image segmentation
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Image segmentation
Position correction: robots turn where there is the most blue / red pixels
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Image segmentation 1
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Image segmentation 2
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Image segmentation 3
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Image segmentation 4
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The whole state machine…
Exploration Detection
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Real camera pictures
30x30 pixels, should not be a handicap
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Conclusion
- No real-robot experimentation