Exploring Tekkotsu Programming on Mobile Robots:
For a variety of reasons, robots don't see very well. Their visual
abilities are far inferior to cats or dogs, and probably even rats.
Nonetheless, a robot with a built-in video camera is far more
interesting than one without.
Tekkotsu provides multiple levels of vision facilities, beginning with
access to raw camera images, color segmented images, and color
segmented connected components ("blobs"). At the more abstract
levels, Tekkotsu's "dual coding representation" provides primitives
for manipulating both iconic and symbolic image formats, and
interfaces with other components, such as the MapBuilder, which can
construct a map of the AIBO's environment.
The following topics are covered in the Low-Level Vision chapter of this tutorial:
More advanced topics are covered in the Visual Routines chapter.
- Color image segmentation
- The vision pipeline
- Ball detection events
Last modified: Mon Nov 28 00:38:07 EST 2005