GroG's blog

SLAM thoughts

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2011.09.23


Kinect Video Stream Masking

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Object segmentation with kinect depth map

Here is some streaming video being masked by the depth image of the kinect.
I use OpenCV's inRangeS to find a range to create a mask from the depth image, then cvCopy to copy it over the video image.


Template Matching and Tracking with PID control - Bot finds teet !

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Logitech C600 webcam - 2 Servos in Pan/Tilt kit - and $16 BBB Arduino clone... not pretty, but it works !


WOOT ! MyRobotLab OpenCV 2.2 & JavaCV on Mac !

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Seeing is believing:
OpenCV 2.2 from MacPorts
MyRobotLab 0005 - bundled with JavaCV 

MyRobotLab - compatible with Linux, Windows & now Mac ! woot !


Differential Drive Service

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Differential Drive Service

A differential drive is a  configuration where two motors are used to control the robots direction and movements.  Wheels or tracks are commonly used.

Each motor can have 3 states: Forward Backward Stopped

<<list 6 states>>

 


Code for Tracking Objects in a Fixed Polar Coordinate System

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I found myself in a situation where polar coordinates are used in determining position and location of a small robot and several objects of interest.  In order change the heading of a robot to correctly point to one of the objects, I needed to calculate the most efficient direction to turn and when to stop.


Bug Toy

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Bug Toy is a simple radio controlled robot.  It is part of the distributed robot Audrey.

With Mood Lighting


 

Chassis, Wheels, and Tracks