Date post: | 12-Jul-2015 |
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Engineering |
Upload: | andres-fernandez |
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Smallest-circle
● Finds circles
● Outputs the X and Y coordinates
● Outputs the radius
● Finds the smallest circle out of all circles
Computer Vision Object Tracking
● Changing the environment to make calculations easier
● Detecting circles using Hough Transform Circle
● Using the output to feed into simulation
Changing the environment
● Environment color change from RGB to HSV● HSV stands for Hue Saturation Value● Hue – Color shown● Saturation – Color intensity● Value – Color brightness
Hough Transformer Circle
● Needs three parameters (x, y, r)●
● Changed the equation to find x and y as the center
(x−a)2+( y−b)2
=r2
x=a+R cos(θ) y=b+R sin(θ)
Hough Transformer Circle
● An 2-dim accumulation array keeps track of the number of intersections
● The pixel with highest count is considered to be center of the circle
● w = width, h = height
O(wh(δR))
δR=(MaximumRadius−MinimumRadius)
Simulation
● A simple 2D animation of a box
● The box represents a robot which follows an object of interest
● The velocity is fixed
● The turning velocity can be changed in the GUI
Threading
● Three threads total
● GUI – Main thread
● Image Processing – Child Thread
● Robot Simulation – Child Thread
Improvements
● Background Subtraction
● OpenCL (Multicore)
● More Benchmarking Analysis
● Extending Simulation (more variables)
● Real Time Operating System (RTOS)
References
● Alper Yilmaz, Omar Javed, and Mubarak Shah. 2006. Object tracking: A survey. ACM Comput. Surv. 38, 4, Article 13 (December 2006)
● Canny, John, "A Computational Approach to Edge Detection," Pattern Analysis and Machine Intelligence, IEEE Transactions on , vol.PAMI-8, no.6, pp.679,698, Nov. 1986
● H. K. Yuen, J. Princen, J. Illingworth, and J. Kittler. 1990. Comparative study of Hough transform methods for circle finding. Image Vision Comput. 8, 1 (February 1990), 71-77
● Jasmin Blanchette and Mark Summerfield , “C++ GUI Programming with Qt 4”, 2nd ed., Prentice Hall, 2008
Extra - Reasons
● Why use actual sensors to connect to the simulation?
● What framework to use to display the video and animation?
Extra - Technical Specifications
● Intel Core i7
● 6 Gigabytes of Memory
● OpenCV 2.4.8
● Webcam: 15 MP
● Webcam: 30 FPS
Extra – Edge Detection
● Edge Detection is used to simplify the image
● The Hough Transform Circle function uses Canny and Sobel to detect edges
● Sobel is a predecessor of Canny
● Canny and Sobel is a multi step process