1. Autonomous Vehicle: Navigation by a Line Created By: Noam Brown and Amir Meiri Mentor: Johanan Erez and Ronel Veksler Location: Mayer Building (Electrical Engineering) VISL Vision & Image Science Laboratory, Department of Electrical Engineering,Technion

2. The Goal Build and design a robot out of Legos with a Camera attached to it. Use Image Processing to analyze a picture of a lane. Program the robot to follow the lane based on this analysis.

3. How we did it First, the Robot was built using Legos, the RCX 2.0, and a WAT – 207CD camera

4. The Robot

5. How we did it 2 motors (for tank-like steering), 2 wheels, a camera, a slider, and numerous Lego bricks and pieces

6. Software Used VideoOCX ©, a commercial software library, was used to capture images onto the computer and for the robot. Phantom, a set of functions for the Visual Studios 6.0 that helps us control the LEGO™ vehicle. Microsoft Visual Studios 6.0™ Visual Basic 6.0

7. Software Used VideoOCX ©, a commercial software library, was used to capture images onto the computer and for the robot. Phantom, a set of functions for the Visual Studios 6.0 that helps us control the LEGO™ vehicle. Microsoft Visual Studios 6.0™ Visual Basic 6.0

8. The Lane The Lane consisted of orange and black tape connected in a rectangle

9. The Lane How the robot sees the lane The camera is positioned to see as much of the lane as possible, without looking too much forward.

10. The Picture The robot takes a picture in Red, Green, and Blue (RGB) Format In RGB, each pixel has a certain amount of red, green, and blue components These components add together to make different colors

11. RGB

12. Saturation Saturation is the concentration of color in an image An algorithm converts a pixel ’ s RGB value into saturation Saturation is highest along the lane

13. A Picture of the lane in Binary Saturation Format

14. The Algorithm A picture is taken The picture is converted to saturation The program scans two horizontal lines for pixels in the lane Once the lane is found, the robot moves forward, left, or right based on the image

15. How it Works The algorithm scans an upper and lower line for pixels with saturation greater than 0.15 The x coordinates of these pixels are averaged together If the average is to the right of the center of the picture, it turns right. If it is to the left, it turns left. And if it is in the center, it goes straight.

16. The Algorithm Lane Center Line Average Distance Upper Line Lower Line Average Center of Lane Sat>0.15 Sat>0.15

17. The Graphical User Interface (GUI) The GUI is the interface in which the user can initiate contact with the RCX.

18. Conclusion The robot successfully travels along the lane A low saturation background is needed Image processing needs more development before reaching its true potential

19. Robot in Action