Finding Visual Landmarks with E-Puck robots Loïc SEGAPELLI
Introduction � Webots � A group of e-puck robots � Each one has a camera � They are looking for a blue light � They must use their camera only! � Collaboration
Example
Algorithm � Robot turn 360º , takes 6 photos � One robot sees the blue light: � Turns on its red leds � Waits � Goes to the light source
Algorithm � Another robot sees red leds: � Turns on its red leds -> chain reaction � Waits � Goes to the red light source
Blue light detection 1
Blue light detection 2
Blue light detection 3
Blue light detection 4
Blue light detection 5
Blue light detection 6
Blue light detection 7
Image segmentation � One picture = 1 min! � Get the most from one photo � Vertical image segmentation
Image segmentation � Position correction: robots turn where there is the most blue / red pixels
Image segmentation 1
Image segmentation 2
Image segmentation 3
Image segmentation 4
Detection The whole state machine… Exploration
Real camera pictures � 30x30 pixels, should not be a handicap
Conclusion - No real-robot experimentation + Interesting image segmentation strategy + Simple state machine
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