- Andrew Liang (ECE)
- Jiansong Wang (MAE)
- Shane Benetz (ECE)
- Kevin Kruse (Extension/BIS)
The goal of this project is the integration of a Lidar in the existing Framework of the ROS Navigation system.
Mechanics (Robot schematics and pictures)
Project Schedule / Gantt Chart
Calibrating the existing ROS framework
One especially important thing for our project is a properly calibrated framework.
To achieve this, you can either adjust the controls to make it fit. However, an alternative and more precise solution is to apply a specific color filter. To do this, we first started a live transfer of the current image.
Once we had the image, we opened a color tweezer using Microsoft Word and detected the color of the yellow center track.
The program now gives us the color in RGB color space. Using a converter, e.g. https://www.peko-step.com/en/tool/hsvrgb_en.html we can now convert this color code into the HSV color code used by our OpenCV module. Finally we just have to configure this filter correctly and add some tolerances, because especially in twilight the colors vary. Once this process is complete, we get a perfectly calibrated system, as shown in the image below. We have to remark, that in this picture even the red line on the left is not detected at all (which is what we aimed for). Lastly, we have to mention that this scales of the HSV color space very by application: The website uses scales up 100 or 360, while our robot uses a scale up to 180. Thus, we used the scale of 360 and devided the resulting numbers by 2 to get the desired configuration.
Links to additional resources (presentations/source code/GitHub)
- Jack Silberman (Professor)
- Dominic Nightingale (TA)
- Haoru Xue (TA)