Vision System Evolution

Our journey from consumer-grade webcams to professional vision systems

Sample Images with Boxes

Early Detection Results

Initial object detection using Logitech C270

Logitech C270 Webcam

Logitech C270

Consumer-grade webcam

Techniques Tried:

  • Watershed Segmentation
  • Canny Edge Detection
  • Blob Detection
  • Color Thresholding
Limelight Camera

Limelight

Professional vision system

Vision Processing:

  • Separate models for each color:
    • Red samples
    • Blue samples
    • Yellow samples
  • Color-Specific Detection
  • Real-time Processing

Vision Calculations

Distance Estimation

  • Uses camera focal length and known object size
  • Calculates distance based on object size in pixels
  • Accounts for camera angle and field of view
  • Adjusts for different sample sizes

Position Estimation

  • Determines sample position in camera frame
  • Calculates horizontal and vertical offset
  • Converts pixel coordinates to real-world units
  • Accounts for camera mounting angle

Camera Calibration

  • Calibrates for lens distortion
  • Adjusts for camera tilt
  • Compensates for mounting height
  • Maintains accuracy across distances

Movement Calculations

Slide Extension

  • Uses Pythagorean theorem with arm length
  • Calculates vertical height based on distance
  • Adjusts for arm length limitations

Turret Rotation

  • Points intake at sample location
  • Calculates angle based on horizontal distance
  • Adjusts for slide extension

Claw Orientation

  • Corrects for turret rotation
  • Keeps claw level with robot
  • Adjusts wrist angle for sample pickup
  • Combines parallel and target angles