Difference between revisions of "Machine Vision Localization System"
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=Overview= |
=Overview= |
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This is a machine vision systems that tracks multiple targets and can send out the positions via the serial port. It is based upon the [[Indoor_Localization_System]], but has several enhancements and bug fixes. |
This is a machine vision systems that tracks multiple targets and can send out the positions via the serial port. It is based upon the [[Indoor_Localization_System]], but has several enhancements and bug fixes. Refer to [[Indoor_Localization_System]] for a basic overview of the setup of the system and the workings of the patter identification algorithm. |
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==Major Enhancements/Changes== |
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* The system will now mark the targets with an overlay and display coordinate data onscreen. |
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* The serial output is now formatted for the XBee radio using the XBee's API mode with escape characters. |
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* The calibration routine has been improved, and only needs to be performed once. |
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* A command interface for sending out commands via the serial port has been added. |
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* The system will discard targets too close to the edge of the camera frame to prevent misidentification due to clipping. |
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* The origin of the world coordinate is now in the middle, not the lower left corner. |
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==Major Bug Fixes== |
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* Two major memory leaks fixed. |
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* Calibration matricies are now calculated correctly. |
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* Off-by-one error in the target identification algorithm fixed. |
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Revision as of 18:01, 15 January 2009
Overview
This is a machine vision systems that tracks multiple targets and can send out the positions via the serial port. It is based upon the Indoor_Localization_System, but has several enhancements and bug fixes. Refer to Indoor_Localization_System for a basic overview of the setup of the system and the workings of the patter identification algorithm.
Major Enhancements/Changes
- The system will now mark the targets with an overlay and display coordinate data onscreen.
- The serial output is now formatted for the XBee radio using the XBee's API mode with escape characters.
- The calibration routine has been improved, and only needs to be performed once.
- A command interface for sending out commands via the serial port has been added.
- The system will discard targets too close to the edge of the camera frame to prevent misidentification due to clipping.
- The origin of the world coordinate is now in the middle, not the lower left corner.
Major Bug Fixes
- Two major memory leaks fixed.
- Calibration matricies are now calculated correctly.
- Off-by-one error in the target identification algorithm fixed.
