Vision System Evolution
Our journey from consumer-grade webcams to professional vision systems

Early Detection Results
Initial object detection using Logitech C270

Logitech C270
Consumer-grade webcam
Techniques Tried:
- Watershed Segmentation
- Canny Edge Detection
- Blob Detection
- Color Thresholding

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