Embedded Motion Control 2014 Group 3

Group Members

Name:	Student id:
Jan Romme	0755197
Freek Ramp	0663262
Kushagra	0873174
Roel Smallegoor	0753385
Janno Lunenburg - Tutor	-

Software architecture and used approach

Arrow detection

The following steps describe the algorithm to find the arrow and determine the direction:

1. Read rgb image from "/pico/asusxtion/rgb/image_color" topic.

2. Convert rgb image to hsv color space.

3. Filter out the red color using cv::inRange

4. Find contours and convex hulls and filter it

The filter removes all contours where the following relationship does not hold: [math]\displaystyle{ 0.5 \lt \frac{Contour \ area}{Convex \ hull \ area} \lt 0.65 }[/math]. This removes some of the unwanted contours. The contour and convex hull of the arrow:

5. Use cv::approxPolyDP over the contours

The function cv::approxPolyDP is used to fit polylines over the resulting contours. The arrow should have approximately 7 lines per polyline. The polylines fitted over the contours with [math]\displaystyle{ 5 \ \lt \ number \ of \ lines \ in \ polyline \ \lt \ 10 }[/math] is the arrow candidate.

6. Determine if arrow is pointing left or right

First the midpoint of the arrow is found using [math]\displaystyle{ x_{mid} = \frac{x_{min}+x_{max}}{2} }[/math]. When the midpoint is known the program iterates over all points of the arrow contour. Two counters are made which count the number of points left and right of [math]\displaystyle{ x_{mid} }[/math]. If the left counter is greater than the right counter the arrow is pointing to the left, otherwise the arrow is pointing to the right.

7. Making the detection more robust As last an effort is made to make the arrow detection more robust, for example when at one frame the arrow is not detected the program still knows there is an arrow. This is done by taking the last 5 iterations, check if in all these iterations the arrow is detected then publish the direction of the arrow onto the topic "/arrow". If in the last 5 iterations no arrow is seen the arrow is not visible anymore thus publish that there is no arrow onto the topic "/arrow".

PFM

Pfm

Older Software

Overview of first strategy

In the overview the different packages (dotted boxes) and nodes (solid boxes) are displayed. The topics are displayed at the sides of the nodes.

Topic overview

Initial (boolean) safety

The safety node is created for testing. When something goes wrong and Pico is about to hit the wall the safety node will publish a Bool to tell the strategy it is not safe anymore. When the code is working well safety shouldn't be needed anymore.

Obstacle Detection

Finding Walls from PointCloud data

The node findWalls reads topic "/cloud" which contains laserdata in x-y coordinates relative to the robot. The node findWalls returns a list containing(xstart,ystart) and (xend, yend) of each found wall (relative to the robot). The following algorithm is made:

- Create a cv::Mat object and draw cv::circle on the cv::Mat structure corresponding to the x and y coordinates of the laserspots.

- Apply Probabilistic Hough Line Transform cv::HoughLinesP

In the picture shown below one can see the laserspots at the left side of the picture. At the right side the lines of the cv::HoughLinesP are shown.

The cv::HoughLinesP algorithm gives multiple lines per wall. In the end we want 1 line per wall. To solve this first the all the lines are sorted into lists by their angle they make, for example if a line makes angle of [math]\displaystyle{ 27^\circ }[/math] it is stored in a list where all lines lie between [math]\displaystyle{ 20^\circ }[/math] and [math]\displaystyle{ 30^\circ }[/math]. Once all lines have been sorted the two most common directions are plotted which is shown in the following pictures:

Finally to extract 1 line per wall the outer points of the contour are taken to get 1 line per wall. The result is shown in the following figure:

Finding Doors from found Walls

Now that the walls are given as lines doors are fitted between the walls. The result is shown in the following figure:

Why this method doesn't work in real life

The method described in how to find walls and doors did not work properly in real life. We experienced some serious robustness problems due to the fact that in some of the iterations complete walls and/or doors were not detected, thus the robot couldn't steer in a proper fashion to the target. Secondly this method required some serious computation power which is not preferable (one cpu core ran at 80% cpu when the refresh rate of the algorithm was only 5 Hz).

Overview of second strategy

See diagram, circles represent separate nodes that communicate using topics. Blocks represent functions, which will be written in separate c++ files and included in the "main" c++ file. This way, no one will interfere in code of someone else.

Notes (TODO)

Week3

Combine detection and strategy part
+ Determine waypoint (turnpoint)
- Find door (using end of line)
+ Turn
+ Drive out of maze

Week 4 (week after corridor challenge)

Because of the Elevator project Freek is not responsible for anything this week.

Jan and Roel will write (optimize) the wall finding algorithm and use it also for the doors. Kushagra will write the safety node.