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YEAR-2009-2010POORNIMA COLLEGE OF ENGINEERING,JAIPUR

GUIDED BY:-NEHA SINGHLECTURER,ECE DEPTT.

PRESENTED BY:-MATIUR RAHMAN(04)

PANKAJ SINGH(10)PEEYUSH KR. DAHIYA(14)RAMSWAROOP BALAI(26)

ARPIT S. SHAH(40)

ECE-4TH

YEAR SEC-B1

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INTRODUCTION:- This robot uses MATLAB 7.14 Image processing

toolbox to follow a red ball. The image is taken bya USB webcam and given to PC & thus MATLABthrough USB cable. MATLAB processes the image& send signals to L293D on the robot using LPT1Parallel port through MCT2E opto-couplers.Depending on the signals received, the motorsact.

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Actions in image processingImage AcquisitionImage Processing

Pre processingFeature extraction

Data Communication

>> imaqhwinfoInstalledAdaptors: {winvideo}

MATLABVersion: 7.0 (R14)ToolboxName: Image Acquisition ToolboxToolboxVersion: 1.5 (R14)

Step 1:

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Step 2:

We got two functions for thatimview(I')imshow(I')

To display two or more image using imshow then command syntax would befigure, imshow(I2)

We can read an image already stored incomputer withI=imread(imgname.ext);

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Step 3:

Parallel Port:

To access parallel port hereis a simple codeparport=digitalio(parallel,'LP

T1);.

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ALGORITHM-

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CIRCUIT ASSEMBLY:-

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Part Total Qty. Description

L293D 1 Motor driver ic

MCT2E 2 Opto couplers

USB webcam 1

LPT1 1 Parallel port

R1,R2,R3,R4 1 2K 1/4W Resistor

R5, R6, R14, R16

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1K 1/4W Resistor

R8, R10 2 100K 1/4W Resistor

R9 1 10K Linear Pot

R11 1 150K 1/4W Resistor

R12 1 360K 1/4W Resistor

R13 1 82 Ohm 1/4W Resistor

C1 1330uF 25V Electrolytic

Capacitor

C2 10.1uF Ceramic Disc

Capacitor

C3 10.22uF 50V Polyester

Capacitor

COMPONENTS & SYSTEM REQUIREMENTS

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Procedure for Detecting the Color Balls Grab a frame of the live video Convert the video data from RGB color space to HSV

color space

HSV color space is more close to human description to colors Select all pixels in the image that matches with the color

of the ball Assume there are no other objects in the video that have the

same color and similar shape

Remove the isolated pixels (optional) Assume noise in the images may have similar color as the ball

but exists in the form of isolated pixels

Locate the center of the remaining pixels Assume the remaining pixels all belong to the ball of interested

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RGB Color Space For the current digital displays, each pixel is made of a Red, a Green and a Bluesub-pixel

Each sub-pixel is activated by a byte of data, i.e. a number between 0 and 255

With these three bytes, the computer can generate 256x256x256 = 16,777,216

combinations If R = x, G = y and B = z, we can plot an RGB cube as follows:

While we have a huge amount of possibilities, it is also tricky to define aprecise color by adjusting the three components:

If R=G=B=0, we have black

If R=G=B=255, we have white

If R=G=255 and B=0, we have yellow

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HSV Color Space HSV codification provides an

intuitive method for colorselection. Closer to humanperception: The blend of the three

components is defined by asingle parameter called "Hue"

The "Saturation" parametersselects how grey or pure the

color will be The "Value" parameter defines

the brightness of the color

The HSV Color Space can bevisualized as a cone

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Few more important concepts of image processingImage adjustmentImage conversionsEdge detection

Image adjustment:imadjust is the command to be used for adjusting the values of the pixel

to fixed range

Image conversions:RGB to Gray ScaleThis can be done by:-

Gray_img = rgb2gray(rgb_img)

RGB to binary imageBW = im2bw(I,level)

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Edge Detection:

It takes an intensity image I as its input, and returns a binaryimage of the same size as I, with 1s representing edges in Iand 0s elsewhere.

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APPLICATIONS -

Used at railway platforms in foreign countries .

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REFERENCES

1. www.endurancerc.com

2. www.roborealm.com

3. www.chennairobotics.com

4. www.google.com

5. www.wikipedia.com

6. www.matlab.com7. www-ccs.ucsd.edu/matlab/toolbox/images/imadjust.html

http://www.endurancerc.com/http://www.roborealm.com/http://www.chennairobotics.com/http://www.google.com/http://www.wikipedia.com/http://www.matlab.com/http://www-ccs.ucsd.edu/matlab/toolbox/images/imadjust.htmlhttp://www-ccs.ucsd.edu/matlab/toolbox/images/imadjust.htmlhttp://www-ccs.ucsd.edu/matlab/toolbox/images/imadjust.htmlhttp://www-ccs.ucsd.edu/matlab/toolbox/images/imadjust.htmlhttp://www-ccs.ucsd.edu/matlab/toolbox/images/imadjust.htmlhttp://www-ccs.ucsd.edu/matlab/toolbox/images/imadjust.htmlhttp://www.matlab.com/http://www.wikipedia.com/http://www.google.com/http://www.chennairobotics.com/http://www.roborealm.com/http://www.endurancerc.com/

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