Object Detection Procedure

CAMERA

CAMERASOFTWARE

LABVIEWIMAGE PROCESSING

ALGORITHMS

MOTORCONTROLLERS

TCP/IP

TCP/IP

1 2

3

4

1. Camera

• Digital, high resolution, color camera

• Mounted angle– Downward means smaller field

of view, less warning time for detected obstacles

– Straight means greater range but less short-range capability (compensate with sensors)

2. Camera Software

• Direct, proprietary link to camera

• Image processing methods– Color recognition– Shape recognition– Object count– Position/Measurement– Character recognition– Custom scripts

Image from camera with position detection line

Pixel Intensity vs. Position graph of position detection line

• Object detection

“Fill Dark Holes”

Noise Reduction

Grayscale

Original

• Image Filtering

• Special Considerations– Dashed lines– Changes in lighting

• Special Considerations– “Overlapping” obstacles

• Prepare and send data to LabView– Perform algorithms in camera software or

LabView

3. LabView

• Perform algorithms, if necessary

• Send commands to motor controllers – go, stop, particular speed

Image Sources

• http://news.thomasnet.com/images/large/451/451463.jpg• http://images.dpchallenge.com/images_challenge/

229/85047.jpg