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Motion Tracking with the RCX and Quickcam

Motion Tracking with the RCX and Quickcam. Dan Huber Joe Winegarden. http://www4.ncsu.edu/~jjwinega/csc714/ CSC 714 Final Project. Motion Tracking Setup. Quickcam mounted on top of motor, RCX brick sits to the side for less weight Quickcam connected to linux PC via USB

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Motion Tracking with the RCX and Quickcam

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  1. Motion Tracking with theRCX and Quickcam Dan HuberJoe Winegarden http://www4.ncsu.edu/~jjwinega/csc714/ CSC 714 Final Project

  2. Motion Tracking Setup • Quickcam mounted on top of motor, RCX brick sits to the side for less weight • Quickcam connected to linux PC via USB • PC runs lnpd to communicate with IR tower • PC runs frame grabber code, sends messages through tower to RCX • RCX waits for message received, rotates until told to do otherwise

  3. Image Processing • Grab frames every 50 ms, determine where “most blue” pixel is located based on center of frame • Messages are 0 (stop turning), 1 (rotate left), 2 (rotate right)

  4. Issues Solved/Unsolved • Improv image processing software difficult to adapt to our application, so we wrote all frame-grabbing and image processing code ourselves • Video4Linux API for frame-grabbing code • lnpd makes IR communication very simple: • Completely separate from BrickOS • Just include library and call 'lnp_addressing_write()' • Extremely stiff USB camera cable greatly restricts the rotational movement of the camera • Can't follow blue pen more than a few degrees without requiring man-power to assist camera movement • Reacts in real time!

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