1. The Robot Rancher By Andrew McCaddin For EEL 5666 IMDL Professors:
Dr. A. Antonio Arroyo
Dr. Eric M. Schwartz
TAs:
Kevin Claycomb
Adam Barnett

2. The Robot Rancher
Novel Sensor:
Size Estimation

3. The Robot Rancher Combination of two independent systems:
CMUCam for perceived size
Sonar for distancing

4. 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.

5. The Robot Rancher Combination of two independent systems:
CMUCam for perceived size
Sonar for distancing

6. 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

7. The Robot Rancher Weaknesses:
Non-linearity of the sonar signal requires preprocessing
Viewing angle of object may primarily measure height instead

8. The Robot Rancher
Conclusions:
Conclusions:
Fast
Effective
Easy :)