TLD Algorithm + Arduino = Vision Based Mobile Robot

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TLD Algorithm + Arduino = Vision Based Mobile Robot



In this project, a mobile robot incorporating a vision system capability utilize a webcam as its only type of sensor for identifying an object, tracking it and move towards the detected object is proposed namely as vision based mobile robot. A Logitech, 3 megapixel webcam is connected to the PC desktop computer and feed real-time image for use in vision system program. A new approach of vision system algorithm (TLD Algorithm- Kalal, Z and Matas, J and Mikolajczyk, K, 2010) which capable to detect and track arbitrary object written in MATLAB language program is applied to achieve this goal and do the processing in real-time in PC desktop computer. The vision system program is responsible for extracting the desired data (object detected coordinate) for robot maneuver process. The data returned from the vision system process is used in robot control algorithm code written also in MATLAB language programming and send to the Arduino board through a serial USB port. A program (driver), to received input from the external computer, is written in advanced in Arduino programming environment and burned into the Arduino ATMEL328 PIC. Here, Arduino board act as a ‘slave’ for PC to control the L293D motor driver in such that the (Tamiya) geared DC motor will move towards the detected object. In this project, the developed mobile robot is capable of autonomously maneuver itself towards predefined desired object.

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