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Ideas for robot avoidance with computer vision


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Hello!

I’ve been watching quite a few matches lately, and I’ve discovered that robots seem to get stuck in mid because it is hard to see them from the driver station. My team has all the code down for things like auto-aim and gear placement so now I am experimenting with other automatic programs to help with teleop.

I’m thinking about working on some robot-detection/obstacle avoidance to help our robot speed down to the other end. This program has to use only 1 camera (no stereo!) and cannot use any sort of distance sensor. Also it is going to be done with openCV.

I’m thinking that I could possibly map out the floor (for example height of the bumper contours could show how far away they are). And then the program will see if the contours intersect with the path directly in front of the bot. The path directly in front of the bot would be shown by a contour (Basically like some sort of a quad that is smaller farther away then it is close to the bot).

Any ideas on the algorithms or particular functions that could be used to make a program like this?

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