嵌入式计算机视觉系统在四足机器人中的应用
Embedded Computer Vision System Applied to a Four-Legged Line Follower Robot
摘要：
机器人学可以被定义为感知与行动的连接。更进一步，该项目旨在使用自动化计算机视觉嵌入式系统驱动机器人，将机器人的视觉与其行为联系起来。为了在机器人上实现颜色识别系统，选择了开源工具，如Processing语言，Android系统，Arduino平台和Pixy相机。制约因素很明显：简单性、可复制性和财政可行性。为了将机器人学、计算机视觉和图像处理等学科有机地结合起来，本文将机器人应用于移动机器人的一个典型问题：直线跟踪。通过不同的方法来区分路径和背景的问题进行了分析：流行的大津的方法，通过实验和颜色跟踪的色调和饱和度的颜色组合的基础上阈值。下一步移动的决策是基于路径的线中心，并且是完全自动化的。该机器人以足式机器人为平台，以摄像机为唯一传感器，实现了直线跟踪。从捕捉图像到移动机器人，很明显机器人技术是多么的集成。仅这篇论文的问题就涉及到机械工程、电子学、控制系统和编程的知识。与这项工作相关的所有内容都被记录下来，并在一个开源的在线页面上提供，因此它在学习和实验机器人技术方面非常有用。
英文摘要：
Robotics can be defined as the connection of perception to action. Taking this further, this project aims to drive a robot using an automated computer vision embedded system, connecting the robot's vision to its behavior. In order to implement a color recognition system on the robot, open source tools are chosen, such as Processing language, Android system, Arduino platform and Pixy camera. The constraints are clear: simplicity, replicability and financial viability. In order to integrate Robotics, Computer Vision and Image Processing, the robot is applied on a typical mobile robot's issue: line following. The problem of distinguishing the path from the background is analyzed through different approaches: the popular Otsu's Method, thresholding based on color combinations through experimentation and color tracking via hue and saturation. Decision making of where to move next is based on the line center of the path and is fully automated. Using a four-legged robot as platform and a camera as its only sensor, the robot is capable of successfully follow a line. From capturing the image to moving the robot, it's evident how integrative Robotics can be. The issue of this paper alone involves knowledge of Mechanical Engineering, Electronics, Control Systems and Programming. Everything related to this work was documented and made available on an open source online page, so it can be useful in learning and experimenting with robotics.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
