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The Vision System is necessary to play a RoboFlag match with real robots. Its
only job is to calculate position information for every object on the field.
The Vision System uses multiple overhead cameras to view the playing field.
The cameras hang approximately three meters above the robots and take pictures
at thirty frames per second.
These overhead images are then processed onboard the Vision Computer. The Vision
Computer separates the image into seven different colors:
- Yellow
- Blue
- White
- Magenta
- Green
- Cyan
- Orange
The blob segmentation algorithm is used to find the location of each circle
of color. Then, these colors are used to identify each individual robot, and
to determine the robot's orientation.
The center marker indicates the robot's team:
- Yellow represents Team One
- Blue represents Team Two
- White represents the Obstacles
The surrounding markers indicates the robot's ID number:
- 1 Magenta, 0 Green, 3 Cyan represents Robot 0
- 3 Magenta, 1 Green, 0 Cyan represents Robot 1
- 1 Magenta, 3 Green, 0 Cyan represents Robot 2
- etc.
More detail information on the RoboFlag vision system can be obtained by contacting David Schneider.
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