2. Object Detection Procedure CAMERA SOFTWARE LABVIEW IMAGE PROCESSING ALGORITHMS MOTOR CONTROLLERS TCP/IP 1 2 3 4

3. 1. Camera Digital, high resolution, color camera Mounted angle –Downward means smaller field of view, less warning time for detected obstacles –Straight means greater range but less short-range capability (compensate with sensors)

4. 2. Camera Software Direct, proprietary link to camera Image processing methods –Color recognition –Shape recognition –Object count –Position/Measurement –Character recognition –Custom scripts

5. Image from camera with position detection line Pixel Intensity vs. Position graph of position detection line Object detection

6. “Fill Dark Holes” Noise Reduction Grayscale Original Image Filtering

7. Special Considerations –Dashed lines –Changes in lighting

8. Special Considerations –“Overlapping” obstacles

9. Prepare and send data to LabView –Perform algorithms in camera software or LabView 3. LabView Perform algorithms, if necessary Send commands to motor controllers – go, stop, particular speed

10. Image Sources http://news.thomasnet.com/images/large/451/451463.jpg http://images.dpchallenge.com/images_challenge/229/85 047.jpg