Motion Tracking with the RCX and Quickcam
Post on 31-Jan-2016
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Motion Tracking with theRCX and Quickcam
Dan HuberJoe Winegarden
http://www4.ncsu.edu/~jjwinega/csc714/CSC 714 Final Project
Motion Tracking Setup Quickcam mounted on top
of motor, RCX brick sits to the side for less weight
Quickcam connected to linux PC via USB
PC runs lnpd to communicate with IR tower
PC runs frame grabber code, sends messages through tower to RCX
RCX waits for message received, rotates until told to do otherwise
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PC Workstation
LEGO USB QuickCamLEGO RCX Brick
Image Data
Output Actuators
Control Information
Image Processing Grab frames every 50
ms, determine where “most blue” pixel is located based on center of frame
Messages are 0 (stop turning), 1 (rotate left), 2 (rotate right)
Issues Solved/Unsolved Improv image processing software difficult to adapt to
our application, so we wrote all frame-grabbing and image processing code ourselves Video4Linux API for frame-grabbing code
lnpd makes IR communication very simple: Completely separate from BrickOS Just include library and call 'lnp_addressing_write()'
Extremely stiff USB camera cable greatly restricts the rotational movement of the camera Can't follow blue pen more than a few degrees without
requiring man-power to assist camera movement
Reacts in real time!
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