1. Frank Bergschneider IMDL EEL5666 March 12, 2013

2.  Objective  System Overview  Hardware  Software  Test Data  Future Work 2 Frank Bergschneider EEL5666 IMDL

3.  Objective: Follow a leader using quadruped locomotion and a color tracking vision system  Special Sensor: Droid IP Webcam 3 Frank Bergschneider EEL5666 IMDL

4.  Special Sensor: Motorola Droid Camera 4 Frank Bergschneider EEL5666 IMDL

5.  Camera: Motorola Droid Android v2.2.3, Arm Cortex A8 550 MHz Processor, 5MP camera  Router: Linksys WRT54GL Wireless Broadband  Laptop: Gateway MS2274 with 64 bit Windows 7  Bluetooth: ◦ Funspark BlueSMiRF Silver ◦ Generic USB Bluetooth Dongle  Microcontroller: ATxmega128A1U 5 Frank Bergschneider EEL5666 IMDL

6.  Droid: IP Webcam App – Video over IP  Laptop: ◦ IP Camera Adapter – network camera adapter ◦ ManyCam Virtual Webcam – “mount” virtual webcam ◦ C++ MS Studio with OpenCV Library – access stream Note: Virtual webcam doesn’t show up in Device Manager Lag and decreased resolution could be issues 6 Frank Bergschneider EEL5666 IMDL

7.  Neon Green HSV: 48-53 ; 200-230; 225-250  Pixel Threshold for Target Presence  X Position: Scaled Center of Mass -> Direction 7 Frank Bergschneider EEL5666 IMDL http://en.wikipedia.org/wiki/File:Hsl-hsv_models.svg

8.  Robust Color Handling  Target Distance Estimation  Virtual Router by Chris Pietschmann 8 Frank Bergschneider EEL5666 IMDL

9. Questions? 9 Frank Bergschneider EEL5666 IMDL