CMUcam for µCHIP (Micro-Controlled High-tech Independent Putter)

What is the CMUcam? OV6620 Omnivision CMOS camera SX28 microcontroller for image processing 80 x 140 resolution Track colors based on RGB values Provide position and size of color object PC java interface for testing

Microcontroller Interface Transmit/receive data via TTL levels Use “Raw serial transfer mode” Process incoming stream and parse relevant data into variable arrays Use dynamic averaging to filter and reduce jitter

Implementation Use TW (track color in window) command to calibrate determine the color of the ball and the hole marker at startup Store RGB values in memory Use TC (track color) to find ball and hole marker Easiest color to detect: Red

Ball Detection Use servo to aim camera down to limit vision Follow ball with camera on approach Use middle-of-mass values (x & y) to center robot over the ball for putting Probably use bright LEDs to control lighting for positioning

Hole Detection Aim camera forward and spin around ball Use middle of mass x value to determine direction Use middle of mass y value to filter other objects Use # of pixels in tracked region to determine distance Reliable tracking up to ~ 6 feet