Surveyor Robotics Journal
Surveyor Corporation home page
Subscribe to a syndicated RSS feed.
Archives
September 2008
August 2008
July 2008
June 2008
May 2008
April 2008
March 2008
February 2008
January 2008
December 2007
November 2007
October 2007
September 2007
August 2007
July 2007
June 2007
May 2007
April 2007
March 2007
February 2007
January 2007
December 2006
November 2006
October 2006
September 2006
August 2006
July 2006
June 2006
May 2006
April 2006
March 2006
Februray 2006
January 2006
Tue, 06 May 2008
new visualization tool for color segmentation on SRV-1 Blackfin
A new version of test firmware has been posted, as described here on the Surveyor Robotics Forum. It adds a new visualization tool for color segmentation, allowing the user to view in real time the actual matches in color bins defined by the 'vc' or color command. For example, in this new firmware, if we defined the following colors -
vc0075225025100025100 (green)
vc1075225025100175250 (orange)
vc2075225100150175250 (red)
vc3075225150225025100 (blue)
and then issued the new 'g1' command, all of the pixels matching one of these color bins would be assigned a solid color (the midpoint of the range), and remaining pixels that don't match any colors would be painted black.
For example, using the above set of colors, we printed out this graphic from http://en.wikipedia.org/wiki/YUV
put the printout in front of the camera, and looked for pixel matches. Here's the image before color segmentation was enabled -
and the same camera view with color segmentation enabled -
Here's an archived video showing the tracking of an orange golf ball in real time - note how my fingers block out part of the shape. Clearly, the color ranges have not been optimized, but you get the idea -
http://www.surveyor.com/images/orange-ball-tracking.mov
This color segmentation visualization tool should help considerably in dialing in color ranges for object location / tracking tasks.
Posted Tue, 06 May 2008 12:34 | HTML Link | see additional stories ...