ADSA - BotLocalization

OBJECTIVE

Beeing able to send the two robots their position and the position of their ennemies in real time using cameras and wifi connections.

ROADMAP

• 1) Compile all the dependancies nedded for ARMv7 (OpenCV, Node.js, ...)
• 2) Use a simple preset to benchmark the diffrent plafomrs (number of frame per seconds)
• 3) Experiment with video feeds and calibrate the camera (distortion matrix)
• 4) Learn to recognize and calculate 3D position of printed QRcodes with OpenCV and ArcUco
• 5) Implement vizualtisation interface to see the marker's position in real time in a 2D space (p5.js ?)
• 6) Implement the physical solution on a reproduction of the official competition's Arena
• 7) Beeing able to track all the robots at the same time

Future

• 8) Add all the robots, the key points and the arena on the 2D interface
• 9) Setup the live comunication with the robots
• 10) Implement initialization in a new arena, with key points

Work done :

1. The openCV library is compiled and usable on the Raspery Pi
2. Benchmark is fonctionnal and the results are available here Benchmarks
3. I already manage to handle the video feed and I am working on the calibration of the camera
4. Calibration done, I've just finished eulidian distance evaluation from video feed
5. Working 2D visualization