1. Omni-Directional Vision System Team Members: Denise Fancher Kyle Hoelscher Michael Layton Eric Miller

2. Problem Background What is omni-directional? What is object tracking? What is a mobile robot?

3. Problem Statement Design and integrate an omni-directional vision system for mobile robot navigation and image tracking. Requirements include: 360° field of view Track bright objects and respond to movement Housed on mobile robot Collision avoidance

4. Design Objectives Gain knowledge of omni-directional imaging Gain knowledge of robotics and system design Develop omni-directional imaging apparatus Develop software for 360 ° image tracking and navigation Develop project management skills Exposure to the project life cycle

5. Existing Solutions Multi-camera Line scanning Mirror reflection Wide angle lens (“Fish-eye lens”) CMUcam comes with basic object tracking MPEG MPEG

6. We are not aware of any existing solution for omni-direction and image tracking!!!

7. Design Constraints Time Budget Component availability and shipping delays Knowledge Object Avoidance

8. Proposed Design Boe-bot CMUcam Sonar Parabolic mirror

9. Alternative solutions Line scanning – Too slow! Multi camera – Too expensive! Fish eye lens – Too narrow field of view! Other robots – Too expensive or less capable!

10. Design Validation Robot successfully tracks over 360 field Avoids collisions Tracks objects in time efficient manner

11. Budget

12. Other considerations Safety – Minimal concerns – Robot is slow, small, and light weight – Sonar may produce interference with other devices Environmental – Battery can produce toxic pollution if it leaks

13. Other considerations Management and work division – Kyle: Programming – Eric: Testing – Mike: Hardware construction – Denise: Programming

14. Gantt Chart

15. PERT Chart

16. Questions ???