Image processing tasks applied to robot vision system and path discovery (March 2016)

Abstract

This work presents the project of a mobile robot with an attached handler, programmed to collect small objects in the near area. The robot takes photos –is able to process a constant stream of images– of the surround area searching for objects, and goes to the nearest one to collect. After collecting, the robot has to put the object in a specified place. The robot will keep searching for objects and moving while on. The image processing job is to do a contrast between the floor color and the colors of the objects, and then the algorithm provides the location to move on. The project is built with a Raspberry Pi/Raspbian platform running a python program that uses the OpenCV library to process images and parameters used to guide the robot, a simple webcam that provides high resolution images, and the motors as final actuators to control the movement of the robot and the handler.