CMUcamfor

µCHIP(Micro-Controlled High-tech Independent Putter)

What is the CMUcam?

• OV6620 Omnivision CMOS camera

• SX28 microcontroller for image processing

• 80 x 140 resolution

• Track colors based on RGB values

• Provide position and size of color object

• PC java interface for testing

Microcontroller Interface

• Transmit/receive data via USART @ TTL levels

• Use “Raw serial transfer mode”

• Process incoming stream and parse relevant data into variable arrays

• Use dynamic averaging to filter and reduce jitter

Implementation

• Use TW (track color in window) command to calibrate determine the color of the ball and the hole marker at startup

• Store RGB values in memory

• Use TC (track color) to find ball and hole marker

• Easiest color to detect: Red

Ball Detection

• Use servo to aim camera down to limit vision• Follow ball with camera on approach• Use middle-of-mass values (x & y) to center

robot over the ball for putting• Probably use bright LEDs to control lighting for

positioning

Hole Detection• Aim camera forward and spin around ball

• Use middle of mass x value to determine direction

• Use middle of mass y value to filter other objects

• Use # of pixels in tracked region to determine distance

• Reliable tracking up to ~ 6 feet