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Computer Vision: Parallelize or Paralyze

Computer Vision: Parallelize or Paralyze. Team Purple Threads CSE Capstone 2012 April 2012. Abstract. Purple Threads Project Description Motivation System Overview First Steps Target Drone Platform Turret System Final Status. Purple Threads.

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Computer Vision: Parallelize or Paralyze

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  1. Computer Vision: Parallelize or Paralyze Team Purple Threads CSE Capstone 2012 April 2012

  2. Abstract • Purple Threads • Project Description • Motivation • System Overview • First Steps • Target Drone Platform • Turret System • Final Status

  3. Purple Threads Top Row: Duc Tran, Aviral Shrivastava(Sponsor), Gabriel Silva Bottom Row: Nicholas Moulin, Craig Hartmann, Anthony Russo, Nadim Hoque

  4. Project Description • This project is a real world system of robots that visually demonstrates the benefits of parallelization for computer vision applications

  5. Motivation • Computer vision systems have a wide variety of applications, but are very processor intensive • Parallelization allows the implementation of more advanced computer vision techniques by removing the bottleneck on the processor

  6. System Overview • Project consists of two different robots • Target Drone Platform • Detect & track projectiles • Avoid projectiles • Turret System • Detect & track the target • Hit target with foam darts

  7. First Steps • Requirement Elicitation • High Level • Low Level • Hardware/Software Specification • Risk Management • Project Timeline • Budget • Configuring Development Environment

  8. Target Drone Platform • Hardware • Traxxas Slash VXL* • ArduPilot Mega w/ IMU Shield • ION Intel Atom Motherboard* • Microsoft Xbox 360 Kinect Sensor* *Other names and brands may be claimed as the property of others

  9. Target Drone Platform • Software • EMGU CV 2.3.0 • Open CV Wrapper (C#) • ArduRover • Code for ArduPilot • Microsoft Robotics Developer Studio 4* • Kinect for Windows SDK v1.0* *Other names and brands may be claimed as the property of others

  10. Target Drone Platform • Implementation • Assemble Target Drone • Hardware Components • Power System • Setup Wireless Access to Drone • Configure Drone Software Stack • Implemented Platform Services through RDS

  11. Target Drone Platform • Implementation • Obtain RGB & Depth Image Data From Kinect* • Projectile Detection • Color Threshold • Projectile Tracking • Collision Avoidance Algorithm *Other names and brands may be claimed as the property of others

  12. Target Drone Platform • Setbacks • Foam dart too small to track accurately • Hardware too heavy for original shocks • Depth frame coordinates are offset from RGB frame coordinates with no translation function • Dr. Shrivastava crashed the car into a tree!

  13. Turret System • Hardware • USB Missile Turret • Microsoft Xbox360 Kinect Sensor* • Arduino Uno • Servos • Software • OpenCV 2.3.1 • Libfreenect • Ubuntu 10.04* *Other names and brands may be claimed as the property of others

  14. Turret System • Implementation • Obtain RGB/Depth Images from Kinect* Sensor • Object Detection • Color Threshold • Cascade Classification • C USB Turret Driver • Program Arduino to Control Servos • C NetDuino Driver *Other names and brands may be claimed as the property of others

  15. Turret System • Implementation • Equations Created to Track Target • Depth Disparity to Depth(ft) • d_feet = (disparity-824.8)/15.2 • d_feet = (0.1236*tan((disparity/2842.5)+1.1863))*3.2808399 • Pixels per Foot depending on Depth • Pixels/Foot = -55.91836*log(d_feet)+177.49225974457

  16. Turret System • Setbacks • Original turret configuration not precise enough • Unable to implement libfreenect driver on PS3* • Turret caught on fire • Turret mounting unstable *Other names and brands may be claimed as the property of others

  17. Turret System • Turret Tracking and Hitting a Moving Car • http://youtu.be/r7ccvPGcY8U

  18. Turret System • Effect of Parallelization on Turret System • http://youtu.be/D5yTRKgOykY

  19. Final Status

  20. Questions ?

  21. Backup Slides

  22. Turret System • Implementation • Equations To Track Target • Horizontal Rotation • Vertical Rotation

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