S16: Ahava

VisionCar

This project aims at tracking a known object from a vehicle and follow the target at a pre-fixed distance. The RC car is mounted with a camera which is interfaced to a Raspberry Pi Compute module. The Compute module performs the required image processing using OpenCV and provides relevant data to the Car Controller for driving. An Android Application is developed to allow a user to select an object by adjusting the HSV filter thresholds. These values are then used by the imaging application to track the desired object.

Objectives & Introduction

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Team Members & Responsibilities

Aditya Devaguptapu

Ajai Krishna Velayutham

Akshay Vijaykumar

Hemanth Konanur Nagendra

Vishwanath Balakuntla Ramesh

Schedule

Week#	Date	Task	Actual	Status
1	3/27/2016	Selection of platform for Mono / Stereo Vision processing. Completion of PWM API Documentation.	To confirm on suitable platform for Mono / Stereo Vision processing. To understand the PWM signals transmitted from the RCU for driving the car motors.	Completed
2	4/03/2016	To decide on suitable algorithm for Object Detection and Depth Perception. Establishing direction and speed control on the car. Order components.	Decided on disparity mapping for depth perception. Pending work is camera setup and calibration for this purpose. Direction and speed control of the car is completed	In Progress
4	4/20/2016	Implementation of Imaging Algorithm and Testing on a PC Environment. Complete setup of Open CV library and verification of video streaming on the development platform. Decision on Bluetooth or kill-switch implementation for car control.	PC setup and testing is in progress. OpenCV is setup and running on the platform. Pending - Stream data from the cameras	In Progress
5	4/27/2016	Mounting controllers and cameras on the car. Complete Imaging and verification on the board.		Incomplete
6	5/04/2016	Integrating Imaging results with the car controls.		Incomplete
7	5/11/2016	Testing car integrated with control signals and perform calibrations.		Incomplete
8	5/18/2016	Final Testing and Enhancements.		Incomplete

Parts List & Cost

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Design & Implementation

Hardware Design

System Architecture

Power Distribution Unit

Connection Matrix

Car Control

Motor Interface

Bluetooth Interface

Image Processing

Software Design and Implementation

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Car Controller

Compute Module

Implementation

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Testing & Technical Challenges

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My Issue #1

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Conclusion

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Project Video

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Project Source Code

Sourceforge Source Code Link

References

Acknowledgement

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References Used

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Appendix

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