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Hunting

Hunting. Christophe Coué DEA Image Vision Robotics 2000. Objective: Hunting an elusive target. Koala. Specification. Description. Identification. Program. Question. Utilisation. Target Detection. Variables Col : {0,..,19}x{0..19), 400 Obj : {true, false}, 2 Decomposition

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Hunting

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  1. Hunting Christophe Coué DEA Image Vision Robotics 2000 • Objective: • Hunting an elusive target Koala

  2. Specification Description Identification Program Question Utilisation Target Detection • Variables • Col :{0,..,19}x{0..19), 400 • Obj :{true, false}, 2 • Decomposition • Parametrical forms: Color histograms

  3. Target Detection

  4. Target Detection Pixel sum: Mean: Second moment:

  5. Specification • Variables • ErrPan :{-50..50}, 101 • DPan :{-160, -150, -100, -50, 0, 50, 100, 150}, 8 • Decomposition • Parametrical Forms Description Program Identification Question Utilization Camera Control • a priori

  6. Result

  7. Target Hunting (Variables)

  8. Specification • Variables • Pan :[0, 4000], 2048 • Vrot : [-128, 127], 256 • Decomposition • Parametrical Forms Description Program Identification Question Utilization Target Hunting (Rotation Speed) • a priori

  9. Specification • Variables • Vtrans :[0, 150], 128 • Pan :[0, 4000], 2048 • Tilt : [0, 5000], 2048 • Decomposition • Parametrical Forms Description Program Identification Question Utilization Target Hunting (Translation Speed) • a priori

  10. Target Hunting (Result 1)

  11. Target Hunting with Obstacle Avoidance • Obstacles Avoidance (Joachim Metzger) • Pursuit • New variable • H: {a, p}, 2

  12. Specification Description Program Identification Question Utilization Target Hunting with Obstacle Avoidance • Variables • Dir, Prox, Pan, Tilt, Vtrans, Vrot • H : {e,p}, 2 • Decomposition • Parametrical Forms • A priori

  13. Result

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