COMPUTER VISION, ROBOTS & BEER

Arko && funsize

What is Beer? Amazing

What is computer vision? Giving computers cameras, LIDAR,

optical sensors Run that through an algorithm Now you know where things are!

In code we trust

What’s out there?

HardwareUSB CameraMicrosoft KinectUSB LIDAR

SoftwareOpenCV (cross-platform)Microsoft SDK (meh)OpenNI (cross-platform)OpenPCL (cross-platform)

Let’s just dive in..

OpenCV Example:Import IplImage (BGR.. not RBG..)Convert BRG to HSVThresholds, Erode, DilateHSV Selection and Band (Take a slice)Draw contours on what meets the cases

Here’s the Code:output_im = cvCloneImage(input_im);

IplImage *hsv_im = cvCreateImage(cvSize(input_im->width, input_im->height), 8, 3);

IplImage *temp_im = cvCreateImage(cvSize(input_im->width, input_im->height),8, 1);

cvCvtColor(input_im, hsv_im, CV_BGR2HSV);

int rows = input_im->height;

int cols = input_im->width;

cvZero(temp_im);

for (int row=0; row<rows; row++) {

for (int col=0; col<cols; col++) {

CvScalar hsv = cvGet2D(hsv_im, row, col);

int h = hsv.val[0];

int v = hsv.val[2];

if ((170 < h || h > 175) && (v > 80)) {

cvSet2D(temp_im, row, col, cvScalar(255));

}

}

}

cvErode(temp_im, temp_im, NULL, 1);

CvMemStorage *storage = cvCreateMemStorage();

CvSeq *contours;

cvFindContours(temp_im, storage, &contours); // destroys temp

cvDrawContours(output_im, contours, CV_RGB(0,255,0), CV_RGB(0,255,0), 1);

Try for yourself:

Good Source to learn: https://github.com/egradman/cv-worksho

p/blob/master/code_fragments.txt

OpenCV webapp (please don’t spam): https://github.com/egradman/cv-worksho

p/blob/master/code_fragments.txt

Example on OpenCV

Example with Kinect + OpenCV

Example with OpenPCL

Demo of OpenPCL

Will it work? Yes.

Apply this to a robot

Now it can see State Estimation Apply visual data to update state

estimate Recognize points of interestHave sensors like an IMU

Now you can navigate,

plan paths, avoid objects