Machine Vision Localization System

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.
• The GUI displaying the camera frames is now full sized instead of a thumbnail. However, if your monitor isn't big enough, you can resize them.

Major Bug Fixes

• Two major memory leaks fixed.
• Calibration matricies are now calculated correctly.
• File handling bug that causes an off-by-one error in LoadTargetData() fixed.

Camera Calibration Routine

The camera calibration routine used is explained in the document Image_Formation_and Camera_Calibration.pdf by Professor Ying Wu.

Target Patterns

The target patterns and preprocessor can be downloaded at Indoor_Localization_System.

Operation

Setting up the Cameras

The cameras should be set up according to Indoor_Localization_System with one caveat: targets at the edge of the camera frame will now be discarded.