Real-Time Object Tracking System

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Real-Time Object Tracking System

• Adam Rossi
• Meaghan Zorij
• 12-04-03

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Project Objectives

• Identify a user selected object of specific size,
• shape, and color in the detectable region. Once
  the object is found, it will be tracked in
  real-time.
• Desired object color is selectable by the user
• Tracking can be started / stopped at anytime by
  user
• Laser directed at target object when tracking
• Real-time video stream displayed with target
  object identified
• Coordinates of locked-on object from platform
  displayed

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Specifications

• Calibration must be completed prior to starting
  tracking (first time only)
• Detectable range is 150 from 1 foot from base
  platform, up to 10 feet
• Maximum of 3 objects of different color within
  the detectable region
• Each object must square and either red, green, or
  blue
• Objects can vary in size from 1-2 foot square
• Each object must be separated by at least 1 foot

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Specifications (contd)
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Specifications (contd)

• Objects must remain stationary until it has been
  located (as indicated when the laser turns on)
• Once object is located, the object can be moved
  in the horizontal direction at a maximum speed of
  one foot per second

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Operational Overview

• Steps of operation
• Calibrate system
• Select target objects color
• Start tracking
• Locate object
• Track in real-time
• Stop tracking

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Analytical Components

• 5 Main Components
• Graphical User Interface user interface, also
  includes calibration, configuration, and
  diagnostic interfaces
• Controller smarts of the system, performs
  calculations of object location based on
  information from the camera and ultrasonic sensor
• CCD Camera locates target object candidates
• Ultrasonic Linear Position Sensor determines
  distances of objects
• Laser indicates tracking of object

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Analytical Components (contd)
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Graphical User Interface

• Live video stream with target object indicated
• User selectable object
• Coordinates of object
• Diagnostics
• Calibration

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Main GUI
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Diagnostics GUI
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Controller

• Interfaces ultrasonic sensor / laser system and
  CCD camera system
• Determines target object from GUI setting
• Provides information related to target object for
  GUI while tracking
• Calculates coordinates of the object using
  information from the ultrasonic sensor and CCD
  camera system
• Directs laser position based upon analysis of
  data from camera and sensor

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CCD Camera

• Creative Labs Webcam Pro (OV511 chipset)
• 15 fps _at_ 640x480 (native)
• Interface camera using Video For Linux API
• Object detection algorithm
• Color segmentation
• Template matching / edge detection
• Provides information to controller on the
  detected object(s) coordinates, size, and color

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Ultrasonic Linear Position Sensor

• Polaroid Instrumentation Package (from Acroname)
• Polaroid 6500 Series Sonar Ranging Module (eases
  interface to transducer)
• Polaroid Electrostatic Transducer
• Specifications
• Distance measurements from 6 inches to 35 feet
• Accuracy of /- 1 over range of operation
• Multiple object detection when objects separated
  by at least 3 inches

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Ultrasonic Linear Position Sensor (contd)

• Provides distance calculations to controller
• maximum of three measurements per position
• Interfaces to HC12 with little additional
  circuitry
• Only need a pull-up resistor on ECHO input into
  HC12 (recommended value is 4.7 k?)

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Laser

• Receives target object position from controller
• Turned on when aligned with target object

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Test Strategies

• Unit tests of each subsystem
• Diagnostics controller tests each subsystem
• Demonstrate real-time tracking capability
• One object
• Multiple objects
• Demonstrate tracking of object speeds up to 1
  foot/sec

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Difficulties

• Ultrasonic sensor difficulties
• Specifications provided by manufacturer may not
  be accurate
• Timing of microprocessor precise enough to
  accurately measure distance
• Camera difficulties
• Achieving real-time video processing
• Locating the target object accurately
• Accuracy of positioning the laser to track the
  object

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Division of Work

• Adam
• Camera subsystem
• Controller
• GUI

• Meaghan
• Sensor subsystem
• Laser subsystem
• Servo operation

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Work Schedule
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Costs
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Questions