The Robot Rancher By Andrew McCaddin For EEL 5666 IMDL Professors: Dr. A. Antonio Arroyo Dr. Eric M. Schwartz TAs: Kevin Claycomb Adam Barnett
The Robot Rancher Novel Sensor: Size Estimation
The Robot Rancher Combination of two independent systems: CMUCam for perceived size Sonar for distancing
The Robot Rancher Concept: Size = k * d^2 * P Where d is the distance from the camera to the object and P is the perceived size of the object by the camera. k takes into account any linear distortion by the lens.
The Robot Rancher Combination of two independent systems: CMUCam for perceived size Sonar for distancing
The Robot Rancher Disregarding units, we can multiply a linearized sonar reading squared with the number of pixels satisfying the color search on the CMUCam to get a size for the object. sonar * sonar * pixels
The Robot Rancher Weaknesses: Non-linearity of the sonar signal requires preprocessing Viewing angle of object may primarily measure height instead
The Robot Rancher Conclusions: Conclusions: Fast Effective Easy :)