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LTU-ARISE-2015-01
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Lawrence Technological University / Autonomous Robotics Institute for
Supporting Education - Technical Memo ARISE-2015-01
An Experimental Study on Pixy
CMUcam5 Vision Sensor
Charles Liu*
Salem High School
46181 Joy Rd Canton, MI, 48187
Christopher Geng*
Northville High School
45700 Six Mile Rd, Northville, MI 48168
Faculty Advsior: Dr. CJ Chung, Professor of Computer Science & Director of ARISE at LTU
1. Introduction
2
2. Experiment setup
2.1 Pixy CMUcam5 camera and Pixymon
2.2 Test setup
2.3 Experimental objects
2
3
4
3. Experiment results and analysis
3.1 Regular objects
3.2 Irregular shapes and features
3.3 Bowling pins
3.4 Different lighting conditions
6
17
57
66
4. Conclusion
96
References
96
(*) 2015 summer research intern at Lawrence Technological University
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1. Introduction
Back then, the idea of having a robot see what was in front of it was only a concept. Today, vision has
become a part of reality. There are many advantages to using vision. With the precise detection of
objects, having a vision sensor give us more information than a laser sensor could give, such as color,
position, and shape. In conjunction with the WRO 2015 University challenge, the idea to experiment
with vision sensors came up. Looking at different sensors, a new sensor has come to attention. Pixy
CMUcam5, developed by Carnegie Mellon University and Charmed Labs, is a small and fast vision
sensor capable of recording seven different color signatures. The purposes of this study are to provide
application to the WRO and insight to how Pixy camera works to people around the world.
2. Experiment equipment and setup
2.1 Pixy CMUcam5 and Pixymon
The Pixy CMUcam5 camera was developed by Carnegie Mellon University and Charmed Labs.
Here are some basic facts about the Pixy CMUcam5 (from its website):
•
•
•
•
•
•
•
•
•
Small, fast, easy-to-use, low-cost, readily-available vision system
Learns to detect objects that you teach it
Outputs what it detects 50 times per second
Connects to Arduino with included cable. Also works with Raspberry Pi, BeagleBone and
similar controllers
All libraries for Arduino, Raspberry Pi, etc. are provided
C/C++ and Python are supported
Communicates via one of several interfaces: SPI, I2C, UART, USB or analog/digital output
Configuration utility runs on Windows, MacOS and Linux
All software/firmare is open-source GNU-licensed
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3
All hardware documentation including schematics, bill of materials, PCB layout, etc. are
provided
In addition, here are some more specific technical facts about the Pixy CMUcam5:
•
•
•
•
•
•
•
•
•
•
•
Processor: NXP LPC4330, 204 MHz, dual core
Image sensor: Omnivision OV9715, 1/4", 1280x800
Lens field-of-view: 75 degrees horizontal, 47 degrees vertical
Lens type: standard M12 (several different types available)
Power consumption: 140 mA typical
Power input: USB input (5V) or unregulated input (6V to 10V)
RAM: 264K bytes
Flash: 1M bytes
Available data outputs: UART serial, SPI, I2C, USB, digital, analog
Dimensions: 2.1" x 2.0" x 1.4
Weight: 27 grams
2.2 Test setup
Figure 1a
Figure 1b
The experiment setup (Figure 1a) consists of a Pixy CMUcam5 mounted on a Tetrix channel (to
adjust for height) connected to an Arduino Uno microprocessor, which is plugged into a laptop.
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The Pixy camera is also connected to the computer to enable the use of Pixymon software.
There are two tables which extend out to 4 meters, on which the experimental objects are
placed. Two lamps were also placed on either side of the table to control the lighting for the
tests on varied lighting conditions.
Figure 1b is a closer view of the data acquisition system: Pixy camera, Arduino microcontroller,
and NXT brick. The Pixy sends limited information to the Arduino, which then sends it through
an adapter to the NXT using I2C communications.
2.1 mm
6.1 mm
12 mm
25 mm
Figure 2a
Figure 2b
Figure 2a shows all four lens used in the experiment; the top left lens is the 2.1 mm lens that
comes with the Pixy, the top right is the 6.1 mm lens, the bottom left is the 12 mm lens, and the
bottom right is the 25 mm lens.
Figure 2b shows the system in operation. On the computer screen are the Pixymon software,
Arduino software, and Arduino serial operation, all of which provide useful data.
2.3 Experimental objects
Three groups of objects were used in the experiment. The first group was seven sheets of
standard colored paper (Figure 3a). The second group was made of eight irregular objects
(Figure 3a). Two were spheres, one red and one green. There were also four pins, two of which
had the standard double red lines at the neck, one of which had a much wider solid red line at
the neck, and one which had a green body. Two more objects were blocks made of multiple
Legos stacked together, one red and one green. The third group was made of pins arranged in
different patterns. In Figure 3b, the pin in the top right has a thicker band for range-finding
purposes. In Figure 3c, there is a green pin which matches the second round of the WRO 2015
RU bowling challenge.
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Figure 3a
Figure 3b
Figure 3c
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3. Experiment results and analysis
3.1 Regular objects (4 meters distance)
2.1 mm lens, Color Calibration
Figure 4a
Figure 4b
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Figure 4c
Data output in Arduino serial monitor:
*********************************************************
Detected 4:
block 0: sig: 1 x: 130 y: 119 width: 12 height: 17
block 1: sig: 2 x: 145 y: 117 width: 12 height: 11
block 2: sig: 3 x: 158 y: 119 width: 12 height: 11
block 3: sig: 4 x: 171 y: 122 width: 9 height: 15
Detected 4:
block 0: sig: 1 x: 130 y: 119 width: 12 height: 17
block 1: sig: 2 x: 144 y: 120 width: 11 height: 17
block 2: sig: 3 x: 159 y: 117 width: 12 height: 5
block 3: sig: 4 x: 172 y: 122 width: 10 height: 12
Detected 4:
block 0: sig: 1 x: 130 y: 119 width: 12 height: 17
block 1: sig: 2 x: 145 y: 119 width: 12 height: 12
block 2: sig: 3 x: 158 y: 122 width: 10 height: 4
block 3: sig: 4 x: 171 y: 128 width: 9 height: 8
Detected 4:
block 0: sig: 1 x: 130 y: 119 width: 12 height: 17
block 1: sig: 2 x: 144 y: 120 width: 11 height: 16
block 2: sig: 3 x: 157 y: 124 width: 11 height: 8
block 3: sig: 4 x: 172 y: 121 width: 10 height
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6.1 mm lens Color Calibration
Figure 5a
Figure 5b
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Figure 5c
Data output in Arduino serial monitor:
*********************************************************
Detected 6:
block 0: sig: 1 x: 114 y: 118 width: 8 height: 37
block 1: sig: 2 x: 123 y: 119 width: 7 height: 38
block 2: sig: 3 x: 134 y: 122 width: 10 height: 32
block 3: sig: 4 x: 146 y: 119 width: 10 height: 37
block 4: sig: 5 x: 158 y: 120 width: 12 height: 38
block 5: sig: 6 x: 170 y: 120 width: 10 height: 36
Detected 6:
block 0: sig: 1 x: 114 y: 118 width: 8 height: 37
block 1: sig: 2 x: 123 y: 119 width: 7 height: 38
block 2: sig: 3 x: 135 y: 121 width: 10 height: 34
block 3: sig: 4 x: 146 y: 120 width: 10 height: 38
block 4: sig: 5 x: 157 y: 124 width: 11 height: 29
block 5: sig: 6 x: 170 y: 121 width: 11 height: 38
Detected 6:
block 0: sig: 1 x: 114 y: 118 width: 8 height: 37
block 1: sig: 2 x: 124 y: 119 width: 8 height: 38
block 2: sig: 3 x: 134 y: 119 width: 10 height: 38
block 3: sig: 4 x: 146 y: 120 width: 10 height: 38
block 4: sig: 5 x: 157 y: 120 width: 11 height: 38
block 5: sig: 6 x: 170 y: 121 width: 12 height:
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12 mm lens Color Calibration
Figure 6a
Figure 6b
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Figure 6c
Data output in Arduino serial monitor:
*********************************************************
Detected 6:
block 0: sig: 1 x: 104 y: 128 width: 17 height: 73
block 1: sig: 2 x: 123 y: 129 width: 17 height: 74
block 2: sig: 3 x: 143 y: 130 width: 20 height: 72
block 3: sig: 4 x: 164 y: 137 width: 20 height: 59
block 4: sig: 5 x: 187 y: 131 width: 24 height: 74
block 5: sig: 6 x: 209 y: 133 width: 21 height: 69
Detected 7:
block 0: sig: 1 x: 104 y: 128 width: 17 height: 73
block 1: sig: 2 x: 123 y: 129 width: 17 height: 74
block 2: sig: 3 x: 143 y: 129 width: 20 height: 73
block 3: sig: 4 x: 164 y: 130 width: 19 height: 72
block 4: sig: 5 x: 187 y: 131 width: 24 height: 74
block 5: sig: 6 x: 210 y: 137 width: 21 height: 61
block 6: sig: 6 x: 209 y: 99 width: 19 height: 4
Detected 8:
block 0: sig: 1 x: 104 y: 128 width: 17 height: 73
block 1: sig: 2 x: 123 y: 113 width: 17 height: 43
block 2: sig: 2 x: 122 y: 157 width: 17 height: 18
block 3: sig: 3 x: 143 y: 132 width: 19 height: 67
block 4: sig: 4 x: 164 y: 130 width: 20 height: 74
block 5: sig: 5 x: 187 y: 130 width: 24 height: 73
block 6: sig: 6 x: 209 y: 139 width: 21 height: 58
block 7: sig: 6 x: 210 y: 97 width: 18 height: 4
LTU-ARISE-2015-01
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25 mm lens Color Calibration
Figure 7a
Figure 7b
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Figure 7c
Detected 6:
block 0: sig: 1 x: 52 y: 104 width: 38 height: 155
block 1: sig: 2 x: 92 y: 104 width: 40 height: 157
block 2: sig: 3 x: 134 y: 104 width: 44 height: 159
block 3: sig: 4 x: 178 y: 105 width: 43 height: 158
block 4: sig: 5 x: 226 y: 105 width: 50 height: 158
block 5: sig: 6 x: 275 y: 105 width: 49 height: 159
Detected 6:
block 0: sig: 1 x: 52 y: 104 width: 38 height: 155
block 1: sig: 2 x: 91 y: 104 width: 41 height: 157
block 2: sig: 3 x: 134 y: 104 width: 44 height: 159
block 3: sig: 4 x: 178 y: 105 width: 43 height: 158
block 4: sig: 5 x: 226 y: 105 width: 50 height: 157
block 5: sig: 6 x: 275 y: 105 width: 48 height: 159
Detected 6:
block 0: sig: 1 x: 52 y: 104 width: 38 height: 155
block 1: sig: 2 x: 92 y: 104 width: 40 height: 157
block 2: sig: 3 x: 134 y: 104 width: 44 height: 159
block 3: sig: 4 x: 178 y: 105 width: 43 height: 157
block 4: sig: 5 x: 225 y: 105 width: 49 height: 157
block 5: sig: 6 x: 275 y: 105 width: 48 height: 159
LTU-ARISE-2015-01
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Comparison of center coordinates, width, and height for different signatures and lenses:
300
250
X Position
200
6.1mm lens
150
12mm lens
25mm lens
100
2.1mm lens
50
0
1
2
3
4
5
6
Signature Number
Figure 8a
160
140
Y Position
120
100
6.1mm lens
80
12mm lens
60
25mm lens
40
2.1mm lens
20
0
1
2
3
4
Signature Number
Figure 8b
5
6
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60
50
Width
40
6.1mm lens
30
12mm lens
25mm lens
20
2.1mm lens
10
0
1
2
3
4
5
6
Signature Number
Figure 8c
180
160
140
Height
120
100
6.1mm lens
80
12mm lens
60
25mm lens
40
2.1mm lens
20
0
1
2
3
4
Signature Number
Figure 8d
5
6
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Observations on Pixy detection of regular objects:
1. From Figures 4a, 5a, 6a, and 7a, it is easy to see that lenses with larger magnifications have
smaller fields of view (FOV)
2. The 2.1 mm lens cannot see all 6 colored sheets of paper reliably at this distance; its ability to
detect the signatures fluctuates
3. The other three lens have no trouble seeing all 6 colors with stable output
4. Figure 8a shows the effect of the lens' magnification on the actual x-value (for example, the
25 mm lens has the smallest reading for signature 1 but the largest reading for signature 6)
5. Figure 8b shows that the 7-values are relatively constant, reflecting the similar heights of the
pieces of paper
6. Figures 8c and 8d show that widths and heights vary widely for each signature for different
lenses (because of different fields of vision), but are relatively constant across the signatures for
each lens
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3.2 Irregular shapes and features
2.1 mm Lens, 0.5 m Distance
Figure 9a
Figure 9b
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Figure 9c
Data output in Arduino serial monitor:
*********************************************************
block 0: sig: 1 x: 235 y: 134 width: 18 height: 55
block 1: sig: 1 x: 70 y: 123 width: 13 height: 18
block 2: sig: 1 x: 144 y: 115 width: 7 height: 8
block 3: sig: 2 x: 107 y: 124 width: 30 height: 29
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2.1 mm Lens, 1 m Distance
Figure 10
Figure 10b
LTU-ARISE-2015-01
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Figure 10c
Data output in Arduino serial monitor:
*********************************************************
block 0: sig: 1 x: 203 y: 127 width: 7 height: 29
block 1: sig: 1 x: 112 y: 121 width: 5 height: 10
block 2: sig: 1 x: 156 y: 116 width: 2 height: 3
block 3: sig: 2 x: 135 y: 121 width: 17 height: 15
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2.1mm lens, 2.5 m Distance
Figure 11a
Figure 11b
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Figure 11c
Data output in Arduino serial monitor:
*********************************************************
block 0: sig: 1 x: 177 y: 123 width: 3 height: 10
block 1: sig: 1 x: 144 y: 120 width: 3 height: 3
block 2: sig: 2 x: 150 y: 121 width: 2 height: 2
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2.1 mm Lens, 3 m Distance
Figure 12a
Figure 12b
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Figure 12c
Data output in Arduino serial monitor:
*********************************************************
block 0: sig: 1 x: 182 y: 123 width: 2 height: 8
block 1: sig: 1 x: 152 y: 121 width: 3 height: 2
block 2: sig: 2 x: 157 y: 122 width: 3 height: 2
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2.1 mm Lens, 4 m distance
Figure 13a
Figure 13b
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Figure 13c
Data output in Arduino serial monitor:
*********************************************************
No values
Summary table
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6.1 mm lens, 0.5 m distance
Figure 14a
Figure 14b
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Figure 14c
Data output in Arduino serial monitor:
*********************************************************
block 0: sig: 1 x: 288 y: 141 width: 50 height: 116
block 1: sig: 1 x: 118 y: 111 width: 18 height: 20
block 2: sig: 1 x: 170 y: 109 width: 14 height: 4
block 3: sig: 1 x: 214 y: 109 width: 15 height: 4
block 4: sig: 1 x: 168 y: 121 width: 16 height: 4
block 5: sig: 1 x: 213 y: 119 width: 12 height: 2
block 6: sig: 1 x: 1 y: 140 width: 2 height: 15
block 7: sig: 2 x: 49 y: 137 width: 72 height: 69
block 8: sig: 2 x: 315 y: 172 width: 10 height: 54
block 9: sig: 2 x: 207 y: 137 width: 37 height: 29
block 10: sig: 2 x: 214 y: 84 width: 17 height: 6
block 11: sig: 2 x: 315 y: 129 width: 5 height: 19
block 12: sig: 2 x: 198 y: 174 width: 5 height: 18
block 13: sig: 2 x: 317 y: 108 width: 6 height: 4
block 14: sig: 2 x: 317 y: 98 width: 6 height: 2
block 15: sig: 2 x: 316 y: 89 width: 5 height: 2
block 16: sig: 2 x: 134 y: 142 width: 3 height:
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6.1 mm lens, 1 m distance
Figure 15a
Figure 15b
LTU-ARISE-2015-01
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Figure 15c
Data output in Arduino serial monitor:
*********************************************************
block 0: sig: 1 x: 59 y: 127 width: 27 height: 25
block 1: sig: 1 x: 231 y: 133 width: 34 height: 66
block 2: sig: 1 x: 141 y: 113 width: 10 height: 10
block 3: sig: 1 x: 165 y: 112 width: 5 height: 2
block 4: sig: 2 x: 101 y: 127 width: 36 height: 36
block 5: sig: 2 x: 189 y: 135 width: 18 height: 32
block 6: sig: 2 x: 94 y: 194 width: 21 height: 2
block 7: sig: 2 x: 266 y: 135 width: 19 height: 58
block 8: sig: 2 x: 315 y: 126 width: 2 height: 4
block 9: sig: 2 x: 187 y: 58 width: 4 height: 3
block 10: sig: 2 x: 137 y: 120 width: 3 height: 2
block 11: sig: 2 x: 319 y: 39 width: 2 height: 2
6.1 mm lens, 2.5 m distance
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Figure 16a
Figure 16b
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Figure 16c
Data output in Arduino serial monitor:
*********************************************************
block 0: sig: 1 x: 191 y: 124 width: 6 height: 23
block 1: sig: 1 x: 120 y: 122 width: 9 height: 9
block 2: sig: 2 x: 138 y: 124 width: 5 height: 10
block 3: sig: 2 x: 205 y: 122 width: 3 height: 13
block 4: sig: 2 x: 265 y: 128 width: 2 height: 5
block 5: sig: 2 x: 265 y: 111 width: 3 height: 4
block 6: sig: 2 x: 317 y: 45 width: 2 height: 3
block 7: sig: 2 x: 264 y: 141 width: 3 height: 2
block 8: sig: 2 x: 79 y: 101 width: 2 height: 2
block 9: sig: 2 x: 317 y: 59 width: 4 height: 2
block 10: sig: 2 x: 168 y: 125 width: 2 height: 2
block 11: sig: 2 x: 318 y: 12 width: 3 height: 2
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6.1 mm lens, 3 m distance
Figure 17a
Figure 17b
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Figure 17c
Data output in Arduino serial monitor:
*********************************************************
block 0: sig: 1 x: 110 y: 120 width: 8 height: 6
block 1: sig: 1 x: 165 y: 119 width: 5 height: 16
block 2: sig: 2 x: 288 y: 108 width: 3 height: 3
block 3: sig: 2 x: 287 y: 118 width: 3 height: 3
block 4: sig: 2 x: 290 y: 62 width: 3 height: 3
block 5: sig: 2 x: 121 y: 118 width: 11 height: 2
block 6: sig: 2 x: 239 y: 126 width: 2 height: 2
block 7: sig: 2 x: 304 y: 79 width: 5 height: 2
block 8: sig: 2 x: 232 y: 80 width: 3 height: 2
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6.1 mm lens, 4 m distance
Figure 18a
Figure 18b
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Figure 18c
Data output in Arduino serial monitor:
*********************************************************
block 0: sig: 1 x: 186 y: 121 width: 4 height: 14
block 1: sig: 1 x: 142 y: 121 width: 5 height: 5
block 2: sig: 2 x: 148 y: 121 width: 4 height: 2
block 3: sig: 2 x: 196 y: 118 width: 2 height: 2
block 4: sig: 2 x: 319 y: 150 width: 2 height: 2
block 5: sig: 2 x: 256 y: 111 width: 3 height: 2
block 6: sig: 2 x: 153 y: 125 width: 4 height: 2
block 7: sig: 2 x: 255 y: 94 width: 2 height: 2
Summary Table
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12 mm lens, 0.5 m distance
Figure 19a
Figure 19b
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Figure 19c
block 0: sig: 1 x: 49 y: 122 width: 34 height: 43
block 1: sig: 1 x: 296 y: 166 width: 46 height: 61
block 2: sig: 1 x: 290 y: 87 width: 34 height: 52
block 3: sig: 1 x: 126 y: 137 width: 34 height: 10
block 4: sig: 1 x: 204 y: 128 width: 14 height: 7
block 5: sig: 1 x: 124 y: 114 width: 22 height: 11
block 6: sig: 1 x: 201 y: 109 width: 12 height: 9
block 7: sig: 2 x: 191 y: 182 width: 15 height: 34
block 8: sig: 2 x: 9 y: 74 width: 2 height: 18
block 9: sig: 2 x: 197 y: 64 width: 11 height: 15
block 10: sig: 2 x: 195 y: 154 width: 13 height: 8
block 11: sig: 2 x: 13 y: 58 width: 2 height: 6
block 12: sig: 2 x: 201 y: 142 width: 4 height: 4
block 13: sig: 2 x: 14 y: 185 width: 3 height: 4
block 14: sig: 2 x: 257 y: 184 width: 3 height: 4
block 15: sig: 2 x: 2 y: 173 width: 5 height: 17
block 16: sig: 2 x: 40 y: 61 width: 3 height: 4
block 17: sig: 2 x: 235 y: 164 width: 2 height: 3
block 18: sig: 2 x: 173 y: 191 width: 3 height: 10
block 19: sig: 2 x: 228 y: 82 width: 3 height: 2
block 20: sig: 2 x: 190 y: 79 width: 2 height: 2
block 21: sig: 2 x: 229 y: 66 width: 2 height: 2
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12 mm lens, 1 m distance
Figure 20a
Figure 20b
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Figure 20c
block 0: sig: 1 x: 112 y: 118 width: 18 height: 21
block 1: sig: 1 x: 278 y: 169 width: 49 height: 60
block 2: sig: 1 x: 6 y: 147 width: 13 height: 30
block 3: sig: 1 x: 246 y: 115 width: 14 height: 45
block 4: sig: 1 x: 160 y: 116 width: 13 height: 4
block 5: sig: 1 x: 161 y: 127 width: 10 height: 4
block 6: sig: 1 x: 10 y: 171 width: 5 height: 4
block 7: sig: 1 x: 206 y: 112 width: 13 height: 3
block 8: sig: 1 x: 206 y: 122 width: 11 height: 2
block 9: sig: 1 x: 299 y: 92 width: 2 height: 2
block 10: sig: 2 x: 51 y: 173 width: 56 height: 18
block 11: sig: 2 x: 30 y: 141 width: 19 height: 7
block 12: sig: 2 x: 9 y: 110 width: 7 height: 37
block 13: sig: 2 x: 34 y: 121 width: 14 height: 14
block 14: sig: 2 x: 309 y: 134 width: 4 height: 93
block 15: sig: 2 x: 195 y: 148 width: 8 height: 18
block 16: sig: 2 x: 309 y: 191 width: 6 height: 16
block 17: sig: 2 x: 24 y: 44 width: 9 height: 17
block 18: sig: 2 x: 13 y: 63 width: 6 height: 5
block 19: sig: 2 x: 82 y: 139 width: 6 height: 3
block 20: sig: 2 x: 219 y: 152 width: 5 height: 10
block 21: sig: 2 x: 192 y: 187 width: 3 height: 4
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12 mm lens, 2.5 m distance
Figure 21a
Figure 21b
LTU-ARISE-2015-01
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Figure 21c
Data output in Arduino serial monitor:
*********************************************************
block 0: sig: 1 x: 139 y: 124 width: 6 height: 7
block 1: sig: 1 x: 86 y: 134 width: 9 height: 10
block 2: sig: 1 x: 87 y: 146 width: 6 height: 2
block 3: sig: 2 x: 6 y: 111 width: 5 height: 92
block 4: sig: 2 x: 246 y: 128 width: 14 height: 34
block 5: sig: 2 x: 14 y: 51 width: 5 height: 15
block 6: sig: 2 x: 251 y: 156 width: 4 height: 4
block 7: sig: 2 x: 241 y: 156 width: 4 height: 4
block 8: sig: 2 x: 22 y: 42 width: 5 height: 2
block 9: sig: 2 x: 11 y: 163 width: 2 height: 3
block 10: sig: 2 x: 177 y: 117 width: 2 height: 3
block 11: sig: 2 x: 199 y: 134 width: 3 height: 3
block 12: sig: 2 x: 309 y: 31 width: 6 height: 3
block 13: sig: 2 x: 41 y: 193 width: 2 height: 2
block 14: sig: 2 x: 173 y: 145 width: 3 height: 2
block 15: sig: 2 x: 163 y: 136 width: 3 height: 2
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12 mm lens, 3 m distance
Figure 22a
Figure 22b
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Figure 22c
Data output in Arduino serial monitor:
*********************************************************
block 0: sig: 1 x: 149 y: 126 width: 4 height: 6
block 1: sig: 1 x: 209 y: 152 width: 9 height: 2
block 2: sig: 1 x: 103 y: 134 width: 6 height: 2
block 3: sig: 2 x: 16 y: 40 width: 9 height: 9
block 4: sig: 2 x: 165 y: 136 width: 4 height: 9
block 5: sig: 2 x: 35 y: 192 width: 2 height: 12
block 6: sig: 2 x: 304 y: 33 width: 3 height: 4
block 7: sig: 2 x: 27 y: 34 width: 6 height: 2
block 8: sig: 2 x: 7 y: 52 width: 6 height: 2
block 9: sig: 2 x: 37 y: 22 width: 2 height: 3
block 10: sig: 2 x: 137 y: 134 width: 3 height: 2
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12 mm lens, 4 m distance
Figure 23a
Figure 23b
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Figure 23c
block 0: sig: 1 x: 127 y: 131 width: 10 height: 7
block 1: sig: 2 x: 175 y: 137 width: 7 height: 5
block 2: sig: 2 x: 144 y: 137 width: 8 height: 9
block 3: sig: 2 x: 24 y: 28 width: 9 height: 3
block 4: sig: 2 x: 316 y: 41 width: 8 height: 4
block 5: sig: 2 x: 6 y: 38 width: 5 height: 2
block 6: sig: 2 x: 289 y: 31 width: 4 height: 4
block 7: sig: 2 x: 299 y: 35 width: 5 height: 2
Summary Table
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25 mm lens, 0.5 m distance
Figure 24a
Figure 24b
LTU-ARISE-2015-01
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Figure 24c
Data output in Arduino serial monitor:
*********************************************************
block 0: sig: 1 x: 59 y: 93 width: 70 height: 26
block 1: sig: 1 x: 246 y: 83 width: 71 height: 23
block 2: sig: 1 x: 59 y: 143 width: 72 height: 26
block 3: sig: 1 x: 246 y: 124 width: 67 height: 17
block 4: sig: 2 x: 246 y: 36 width: 90 height: 72
block 5: sig: 2 x: 246 y: 166 width: 105 height: 65
block 6: sig: 2 x: 245 y: 106 width: 66 height: 23
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49
25 mm lens, 1 m distance
Figure 25a
Figure 25b
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50
Figure 25c
Data output in Arduino serial monitor:
*********************************************************
block 0: sig: 1 x: 295 y: 117 width: 48 height: 151
block 1: sig: 1 x: 33 y: 113 width: 38 height: 48
block 2: sig: 1 x: 116 y: 104 width: 31 height: 12
block 3: sig: 1 x: 202 y: 99 width: 34 height: 11
block 4: sig: 1 x: 118 y: 129 width: 33 height: 11
block 5: sig: 1 x: 201 y: 120 width: 31 height: 8
block 6: sig: 2 x: 200 y: 162 width: 81 height: 74
block 7: sig: 2 x: 201 y: 61 width: 46 height: 64
block 8: sig: 2 x: 200 y: 111 width: 32 height: 10
block 9: sig: 2 x: 268 y: 154 width: 3 height: 3
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51
25 mm lens, 2.5 m distance
Figure 26a
Figure 26b
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52
Figure 26c
Data output in Arduino serial monitor:
*********************************************************
block 0: sig: 1 x: 258 y: 148 width: 39 height: 99
block 1: sig: 1 x: 40 y: 160 width: 40 height: 41
block 2: sig: 1 x: 138 y: 129 width: 14 height: 18
block 3: sig: 1 x: 203 y: 124 width: 10 height: 2
block 4: sig: 1 x: 166 y: 134 width: 3 height: 2
block 5: sig: 2 x: 95 y: 153 width: 62 height: 55
block 6: sig: 2 x: 291 y: 149 width: 27 height: 99
block 7: sig: 2 x: 202 y: 166 width: 30 height: 64
block 8: sig: 2 x: 201 y: 109 width: 16 height: 21
block 9: sig: 2 x: 137 y: 109 width: 4 height: 18
block 10: sig: 2 x: 169 y: 104 width: 4 height: 8
block 11: sig: 2 x: 232 y: 104 width: 5 height: 6
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53
25 mm lens, 3 m distance
Figure 27a
Figure 27b
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54
Figure 27c
Data output in Arduino serial monitor:
*********************************************************
block 0: sig: 1 x: 251 y: 151 width: 40 height: 84
block 1: sig: 1 x: 55 y: 164 width: 37 height: 34
block 2: sig: 1 x: 140 y: 136 width: 11 height: 14
block 3: sig: 2 x: 284 y: 150 width: 27 height: 83
block 4: sig: 2 x: 104 y: 157 width: 53 height: 45
block 5: sig: 2 x: 191 y: 151 width: 43 height: 83
block 6: sig: 2 x: 141 y: 119 width: 5 height: 15
block 7: sig: 2 x: 229 y: 118 width: 5 height: 16
block 8: sig: 2 x: 230 y: 145 width: 4 height: 3
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25 mm lens, 4 m distance
Figure 28a
Figure 28b
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56
Figure 28c
block 0: sig: 1 x: 258 y: 142 width: 17 height: 63
block 1: sig: 1 x: 58 y: 151 width: 26 height: 24
block 2: sig: 1 x: 129 y: 131 width: 7 height: 10
block 3: sig: 1 x: 159 y: 129 width: 6 height: 2
block 4: sig: 2 x: 92 y: 147 width: 35 height: 34
block 5: sig: 2 x: 300 y: 140 width: 19 height: 61
block 6: sig: 2 x: 192 y: 154 width: 18 height: 37
block 7: sig: 2 x: 191 y: 117 width: 9 height: 13
Summary Table
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57
Observations on Pixy detection of irregular objects and small features:
1. Even the 2.1mm lens can see small features at closer ranges (Figures 9b and 9c) but loses the ability to
see even the large objects at longer ranges (Figures 13b and 13c)
2. The 25 mm lens can see even the smallest features at the longest ranges (Figures 28b and 28c)
3. No matter the shape of the object, it is detected as a block
4. Regularly shaped objects are easier to detect (Figures 21b and 21c)
5. The FOV of each lens affects how many objects it can see (Figure 24b)
6. Some of the pictures picked up outside interference (noise) as signatures (i.e Figure 21c)
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3.3 Bowling pins
Actual WRO 2015 Bowling Round 1 Setup (3.6 meters away, 25 mm Camera)
Figure 29a
Figure 29b
LTU-ARISE-2015-01
Data output in Arduino serial monitor:
*********************************************************
Detected 9:
block 0: sig: 1 x: 277 y: 135 width: 9 height: 11
block 1: sig: 1 x: 136 y: 133 width: 9 height: 9
block 2: sig: 1 x: 170 y: 134 width: 9 height: 9
block 3: sig: 1 x: 209 y: 135 width: 9 height: 9
block 4: sig: 1 x: 106 y: 132 width: 7 height: 9
block 5: sig: 1 x: 238 y: 132 width: 7 height: 3
block 6: sig: 1 x: 72 y: 127 width: 5 height: 2
block 7: sig: 1 x: 238 y: 139 width: 9 height: 2
block 8: sig: 1 x: 241 y: 108 width: 3 height: 8
Detected 8:
block 0: sig: 1 x: 278 y: 135 width: 10 height: 12
block 1: sig: 1 x: 136 y: 133 width: 9 height: 9
block 2: sig: 1 x: 170 y: 134 width: 9 height: 9
block 3: sig: 1 x: 209 y: 135 width: 9 height: 9
block 4: sig: 1 x: 239 y: 135 width: 10 height: 9
block 5: sig: 1 x: 107 y: 132 width: 8 height: 8
block 6: sig: 1 x: 73 y: 127 width: 7 height: 3
block 7: sig: 1 x: 241 y: 107 width: 3 height: 8
Detected 8:
block 0: sig: 1 x: 277 y: 135 width: 9 height: 11
block 1: sig: 1 x: 171 y: 134 width: 11 height: 9
block 2: sig: 1 x: 209 y: 135 width: 9 height: 10
block 3: sig: 1 x: 136 y: 133 width: 9 height: 9
block 4: sig: 1 x: 237 y: 135 width: 5 height: 9
block 5: sig: 1 x: 107 y: 132 width: 7 height: 9
block 6: sig: 1 x: 73 y: 130 width: 7 height: 9
block 7: sig: 1 x: 241 y: 108 width: 3 height: 8
59
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60
Next we will try detecting the pins from a different location, different camera angle.
Different Camera Angle
Figure 30a
Figure 30b
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61
Next we will try to detect the pins in the Round 2 formation (which includes a green pin)
Actual WRO 2015 Bowling Round 2 Setup (3.6 meters away, 25 mm Camera)
Figure 31a
Figure 31b
LTU-ARISE-2015-01
Data output in Arduino serial monitor:
*********************************************************
Detected 7:
block 0: sig: 1 x: 175 y: 62 width: 13 height: 10
block 1: sig: 1 x: 225 y: 65 width: 17 height: 8
block 2: sig: 1 x: 130 y: 61 width: 9 height: 8
block 3: sig: 1 x: 75 y: 55 width: 5 height: 2
block 4: sig: 1 x: 30 y: 56 width: 5 height: 8
block 5: sig: 2 x: 175 y: 86 width: 17 height: 41
block 6: sig: 2 x: 178 y: 50 width: 6 height: 13
Detected 7:
block 0: sig: 1 x: 175 y: 61 width: 13 height: 11
block 1: sig: 1 x: 224 y: 65 width: 15 height: 8
block 2: sig: 1 x: 130 y: 61 width: 9 height: 8
block 3: sig: 1 x: 75 y: 58 width: 5 height: 8
block 4: sig: 1 x: 31 y: 56 width: 6 height: 8
block 5: sig: 2 x: 175 y: 87 width: 17 height: 39
block 6: sig: 2 x: 177 y: 50 width: 7 height: 14
Detected 8:
block 0: sig: 1 x: 175 y: 61 width: 13 height: 11
block 1: sig: 1 x: 224 y: 65 width: 15 height: 8
block 2: sig: 1 x: 129 y: 61 width: 9 height: 8
block 3: sig: 1 x: 74 y: 58 width: 5 height: 8
block 4: sig: 1 x: 31 y: 53 width: 6 height: 2
block 5: sig: 1 x: 31 y: 59 width: 9 height: 2
block 6: sig: 2 x: 175 y: 86 width: 17 height: 41
block 7: sig: 2 x: 178 y: 50 width: 9 height: 12
Detected 7:
block 0: sig: 1 x: 175 y: 62 width: 13 height: 10
block 1: sig: 1 x: 225 y: 65 width: 16 height: 9
block 2: sig: 1 x: 130 y: 61 width: 9 height: 8
block 3: sig: 1 x: 75 y: 55 width: 6 height: 2
block 4: sig: 1 x: 30 y: 56 width: 6 height: 8
block 5: sig: 2 x: 175 y: 88 width: 17 height: 38
block 6: sig: 2 x: 177 y: 50 width: 6 height: 13
Detected 7:
block 0: sig: 1 x: 175 y: 62 width: 13 height: 10
block 1: sig: 1 x: 224 y: 65 width: 15 height: 8
block 2: sig: 1 x: 129 y: 61 width: 9 height: 8
block 3: sig: 1 x: 75 y: 58 width: 5 height: 8
block 4: sig: 1 x: 31 y: 56 width: 6 height: 8
block 5: sig: 2 x: 176 y: 88 width: 18 height: 38
block 6: sig: 2 x: 177 y: 51 width: 6 height: 12
62
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63
At different camera angles
Figure 32a
Figure 32b
LTU-ARISE-2015-01
Detected 9:
block 0: sig: 1 x: 161 y: 64 width: 5 height: 10
block 1: sig: 1 x: 204 y: 65 width: 6 height: 8
block 2: sig: 1 x: 224 y: 62 width: 5 height: 2
block 3: sig: 1 x: 178 y: 62 width: 5 height: 2
block 4: sig: 1 x: 129 y: 62 width: 5 height: 2
block 5: sig: 1 x: 81 y: 62 width: 5 height: 2
block 6: sig: 1 x: 69 y: 62 width: 5 height: 2
block 7: sig: 1 x: 24 y: 64 width: 5 height: 8
block 8: sig: 2 x: 270 y: 78 width: 17 height: 64
Detected 11:
block 0: sig: 1 x: 163 y: 64 width: 9 height: 10
block 1: sig: 1 x: 178 y: 65 width: 7 height: 8
block 2: sig: 1 x: 25 y: 64 width: 6 height: 8
block 3: sig: 1 x: 204 y: 65 width: 6 height: 8
block 4: sig: 1 x: 224 y: 62 width: 5 height: 2
block 5: sig: 1 x: 129 y: 62 width: 5 height: 2
block 6: sig: 1 x: 82 y: 62 width: 6 height: 2
block 7: sig: 1 x: 112 y: 62 width: 7 height: 2
block 8: sig: 1 x: 270 y: 61 width: 5 height: 2
block 9: sig: 2 x: 270 y: 88 width: 17 height: 41
block 10: sig: 2 x: 270 y: 52 width: 6 height: 13
Detected 10:
block 0: sig: 1 x: 163 y: 64 width: 9 height: 10
block 1: sig: 1 x: 225 y: 62 width: 6 height: 2
block 2: sig: 1 x: 70 y: 62 width: 6 height: 2
block 3: sig: 1 x: 204 y: 65 width: 5 height: 8
block 4: sig: 1 x: 178 y: 62 width: 5 height: 2
block 5: sig: 1 x: 129 y: 62 width: 5 height: 2
block 6: sig: 1 x: 82 y: 62 width: 6 height: 2
block 7: sig: 1 x: 24 y: 64 width: 5 height: 8
block 8: sig: 1 x: 113 y: 62 width: 7 height: 2
block 9: sig: 2 x: 270 y: 78 width: 17 height: 64
Detected 9:
block 0: sig: 1 x: 161 y: 64 width: 5 height: 10
block 1: sig: 1 x: 205 y: 62 width: 6 height: 2
block 2: sig: 1 x: 69 y: 65 width: 7 height: 8
block 3: sig: 1 x: 25 y: 61 width: 6 height: 2
block 4: sig: 1 x: 177 y: 62 width: 5 height: 2
block 5: sig: 1 x: 128 y: 62 width: 5 height: 2
block 6: sig: 1 x: 223 y: 62 width: 5 height: 2
block 7: sig: 1 x: 81 y: 62 width: 5 height: 2
block 8: sig: 2 x: 270 y: 78 width: 16 height: 64
64
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65
And now for a Different Green Pin Position
Figure 33a
Figure 33b
LTU-ARISE-2015-01
Detected 6:
block 0: sig: 1 x: 216 y: 71 width: 10 height: 10
block 1: sig: 1 x: 29 y: 69 width: 13 height: 9
block 2: sig: 1 x: 271 y: 69 width: 9 height: 2
block 3: sig: 1 x: 94 y: 67 width: 5 height: 2
block 4: sig: 2 x: 153 y: 94 width: 17 height: 41
block 5: sig: 2 x: 154 y: 58 width: 7 height: 14
Detected 7:
block 0: sig: 1 x: 215 y: 71 width: 9 height: 10
block 1: sig: 1 x: 30 y: 69 width: 14 height: 9
block 2: sig: 1 x: 271 y: 69 width: 9 height: 2
block 3: sig: 1 x: 94 y: 67 width: 5 height: 2
block 4: sig: 1 x: 153 y: 67 width: 6 height: 2
block 5: sig: 2 x: 153 y: 95 width: 17 height: 41
block 6: sig: 2 x: 154 y: 58 width: 7 height: 14
Detected 8:
block 0: sig: 1 x: 216 y: 71 width: 10 height: 10
block 1: sig: 1 x: 30 y: 66 width: 13 height: 3
block 2: sig: 1 x: 30 y: 72 width: 15 height: 3
block 3: sig: 1 x: 271 y: 69 width: 9 height: 2
block 4: sig: 1 x: 94 y: 67 width: 5 height: 2
block 5: sig: 1 x: 153 y: 67 width: 6 height: 2
block 6: sig: 2 x: 154 y: 95 width: 18 height: 42
block 7: sig: 2 x: 154 y: 58 width: 7 height: 14
Detected 7:
block 0: sig: 1 x: 216 y: 71 width: 10 height: 10
block 1: sig: 1 x: 30 y: 69 width: 13 height: 9
block 2: sig: 1 x: 271 y: 69 width: 9 height: 2
block 3: sig: 1 x: 94 y: 67 width: 5 height: 2
block 4: sig: 1 x: 153 y: 67 width: 6 height: 2
block 5: sig: 2 x: 153 y: 95 width: 17 height: 42
block 6: sig: 2 x: 154 y: 58 width: 6 height: 13
66
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Observations on Pixy detection of WRO RU challenge pins:
1. With appropriate range adjustment, the 25 mm lens can detect the small features on the
white pins
2. The 25 mm lens has no problems detecting the green pin no matter the pattern of the pins
67
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68
3.4 Different lighting conditions
25 mm lens at 4 meter distance, light is 0.5 m from objects
Figure 34a
Figure 34b
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69
Figure 34c
Detected 9:
block 0: sig: 1 x: 250 y: 135 width: 18 height: 64
block 1: sig: 1 x: 43 y: 136 width: 21 height: 19
block 2: sig: 1 x: 117 y: 121 width: 9 height: 10
block 3: sig: 1 x: 211 y: 123 width: 7 height: 8
block 4: sig: 1 x: 176 y: 118 width: 7 height: 2
block 5: sig: 2 x: 285 y: 136 width: 17 height: 62
block 6: sig: 2 x: 83 y: 136 width: 34 height: 34
block 7: sig: 2 x: 175 y: 138 width: 17 height: 26
block 8: sig: 2 x: 175 y: 110 width: 9 height: 12
Detected 10:
block 0: sig: 1 x: 250 y: 135 width: 18 height: 64
block 1: sig: 1 x: 44 y: 136 width: 19 height: 19
block 2: sig: 1 x: 117 y: 121 width: 8 height: 10
block 3: sig: 1 x: 210 y: 120 width: 5 height: 2
block 4: sig: 1 x: 211 y: 126 width: 8 height: 2
block 5: sig: 1 x: 176 y: 118 width: 6 height: 2
block 6: sig: 2 x: 285 y: 136 width: 17 height: 62
block 7: sig: 2 x: 82 y: 136 width: 35 height: 34
block 8: sig: 2 x: 175 y: 138 width: 14 height: 26
block 9: sig: 2 x: 175 y: 110 width: 9 height: 11
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25 mm lens at 4 meter distance, light is 1 m from objects
Figure 35a
Figure 35b
LTU-ARISE-2015-01
Figure 35c
Detected 9:
block 0: sig: 1 x: 261 y: 137 width: 18 height: 63
block 1: sig: 1 x: 53 y: 140 width: 24 height: 21
block 2: sig: 1 x: 127 y: 123 width: 7 height: 11
block 3: sig: 1 x: 186 y: 121 width: 5 height: 2
block 4: sig: 1 x: 222 y: 123 width: 7 height: 2
block 5: sig: 2 x: 93 y: 138 width: 37 height: 33
block 6: sig: 2 x: 296 y: 138 width: 17 height: 63
block 7: sig: 2 x: 185 y: 144 width: 17 height: 35
block 8: sig: 2 x: 185 y: 114 width: 7 height: 10
Detected 9:
block 0: sig: 1 x: 260 y: 138 width: 19 height: 64
block 1: sig: 1 x: 53 y: 140 width: 25 height: 22
block 2: sig: 1 x: 128 y: 123 width: 9 height: 11
block 3: sig: 1 x: 187 y: 121 width: 6 height: 2
block 4: sig: 1 x: 157 y: 122 width: 7 height: 2
block 5: sig: 2 x: 296 y: 138 width: 17 height: 63
block 6: sig: 2 x: 93 y: 138 width: 34 height: 33
block 7: sig: 2 x: 187 y: 143 width: 14 height: 33
block 8: sig: 2 x: 186 y: 112 width: 8 height: 14
71
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72
25 mm lens at 4 meter distance, light is 1.5 m from objects
Figure 36a
Figure 36b
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73
Figure 36c
Detected 10:
block 0: sig: 1 x: 261 y: 137 width: 18 height: 64
block 1: sig: 1 x: 51 y: 140 width: 27 height: 23
block 2: sig: 1 x: 126 y: 123 width: 7 height: 10
block 3: sig: 1 x: 221 y: 125 width: 7 height: 8
block 4: sig: 1 x: 186 y: 120 width: 6 height: 2
block 5: sig: 2 x: 296 y: 138 width: 17 height: 62
block 6: sig: 2 x: 92 y: 138 width: 35 height: 34
block 7: sig: 2 x: 185 y: 111 width: 7 height: 13
block 8: sig: 2 x: 183 y: 150 width: 12 height: 14
block 9: sig: 2 x: 185 y: 129 width: 8 height: 4
Detected 9:
block 0: sig: 1 x: 261 y: 137 width: 18 height: 64
block 1: sig: 1 x: 52 y: 140 width: 26 height: 22
block 2: sig: 1 x: 127 y: 122 width: 8 height: 11
block 3: sig: 1 x: 186 y: 120 width: 7 height: 2
block 4: sig: 2 x: 91 y: 138 width: 35 height: 34
block 5: sig: 2 x: 296 y: 137 width: 16 height: 62
block 6: sig: 2 x: 184 y: 111 width: 7 height: 13
block 7: sig: 2 x: 186 y: 145 width: 5 height: 17
block 8: sig: 2 x: 185 y: 128 width: 8 height: 4
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25 mm lens at 4 meter distance, light is 0.5 m from objects. WRO Bowling Round 1 Setup
Figure 37a
Figure 37b
LTU-ARISE-2015-01
Detected 6:
block 0: sig: 1 x: 144 y: 125 width: 10 height: 5
block 1: sig: 1 x: 228 y: 122 width: 6 height: 2
block 2: sig: 1 x: 254 y: 126 width: 5 height: 8
block 3: sig: 1 x: 95 y: 120 width: 5 height: 2
block 4: sig: 1 x: 171 y: 121 width: 9 height: 2
block 5: sig: 1 x: 199 y: 122 width: 5 height: 3
Detected 4:
block 0: sig: 1 x: 145 y: 125 width: 10 height: 8
block 1: sig: 1 x: 228 y: 122 width: 6 height: 2
block 2: sig: 1 x: 255 y: 129 width: 8 height: 2
block 3: sig: 1 x: 95 y: 120 width: 5 height: 2
Detected 4:
block 0: sig: 1 x: 254 y: 123 width: 5 height: 2
block 1: sig: 1 x: 228 y: 122 width: 5 height: 2
block 2: sig: 1 x: 144 y: 127 width: 10 height: 2
block 3: sig: 1 x: 199 y: 122 width: 5 height: 2
Detected 6:
block 0: sig: 1 x: 144 y: 124 width: 11 height: 8
block 1: sig: 1 x: 254 y: 123 width: 5 height: 2
block 2: sig: 1 x: 228 y: 122 width: 6 height: 2
block 3: sig: 1 x: 255 y: 129 width: 9 height: 2
block 4: sig: 1 x: 200 y: 122 width: 6 height: 2
block 5: sig: 1 x: 95 y: 120 width: 5 height: 2
75
Figure 37c
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76
25 mm lens at 4 meter distance, light is 0.1 m from objects. WRO Bowling Round 1 Setup
Figure 38a
Figure 38b
LTU-ARISE-2015-01
Detected 4:
block 0: sig: 1 x: 266 y: 126 width: 7 height: 10
block 1: sig: 1 x: 166 y: 122 width: 11 height: 2
block 2: sig: 1 x: 86 y: 127 width: 6 height: 2
block 3: sig: 1 x: 107 y: 122 width: 7 height: 2
Detected 3:
block 0: sig: 1 x: 266 y: 126 width: 7 height: 10
block 1: sig: 1 x: 139 y: 123 width: 13 height: 2
block 2: sig: 1 x: 86 y: 127 width: 6 height: 2
Detected 6:
block 0: sig: 1 x: 266 y: 126 width: 9 height: 10
block 1: sig: 1 x: 139 y: 128 width: 14 height: 3
block 2: sig: 1 x: 166 y: 125 width: 11 height: 9
block 3: sig: 1 x: 86 y: 127 width: 7 height: 2
block 4: sig: 1 x: 201 y: 130 width: 10 height: 2
block 5: sig: 1 x: 106 y: 121 width: 5 height: 2
Detected 3:
block 0: sig: 1 x: 266 y: 126 width: 6 height: 10
block 1: sig: 1 x: 107 y: 122 width: 7 height: 2
block 2: sig: 1 x: 143 y: 128 width: 3 height: 2
77
Figure 38c
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78
25 mm lens at 4 meter distance, light is 0.6 m from objects. WRO Bowling Round 1 Setup
Figure 39a
Figure 39b
LTU-ARISE-2015-01
Detected 6:
block 0: sig: 1 x: 266 y: 125 width: 9 height: 10
block 1: sig: 1 x: 138 y: 121 width: 15 height: 3
block 2: sig: 1 x: 166 y: 121 width: 10 height: 2
block 3: sig: 1 x: 107 y: 120 width: 8 height: 3
block 4: sig: 1 x: 198 y: 125 width: 5 height: 9
block 5: sig: 1 x: 232 y: 128 width: 3 height: 2
Detected 6:
block 0: sig: 1 x: 266 y: 125 width: 6 height: 10
block 1: sig: 1 x: 139 y: 121 width: 15 height: 2
block 2: sig: 1 x: 199 y: 122 width: 7 height: 2
block 3: sig: 1 x: 165 y: 121 width: 9 height: 2
block 4: sig: 1 x: 233 y: 128 width: 5 height: 2
block 5: sig: 1 x: 86 y: 126 width: 7 height: 2
Detected 7:
block 0: sig: 1 x: 266 y: 125 width: 6 height: 10
block 1: sig: 1 x: 140 y: 124 width: 14 height: 8
block 2: sig: 1 x: 199 y: 122 width: 7 height: 2
block 3: sig: 1 x: 165 y: 121 width: 5 height: 2
block 4: sig: 1 x: 200 y: 129 width: 10 height: 2
block 5: sig: 1 x: 166 y: 128 width: 10 height: 2
block 6: sig: 1 x: 234 y: 128 width: 7 height: 2
79
Figure 39c
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80
25 mm lens at 4 meter distance, light is 1.1 m from objects. WRO Bowling Round 1 Setup
Figure 40a
Figure 40b
LTU-ARISE-2015-01
Detected 6:
block 0: sig: 1 x: 266 y: 125 width: 7 height: 11
block 1: sig: 1 x: 166 y: 123 width: 9 height: 2
block 2: sig: 1 x: 235 y: 129 width: 8 height: 2
block 3: sig: 1 x: 139 y: 122 width: 15 height: 2
block 4: sig: 1 x: 198 y: 129 width: 5 height: 3
block 5: sig: 1 x: 109 y: 121 width: 6 height: 2
Detected 5:
block 0: sig: 1 x: 266 y: 125 width: 7 height: 11
block 1: sig: 1 x: 139 y: 122 width: 14 height: 2
block 2: sig: 1 x: 235 y: 123 width: 5 height: 2
block 3: sig: 1 x: 198 y: 129 width: 5 height: 3
block 4: sig: 1 x: 235 y: 129 width: 8 height: 2
Detected 5:
block 0: sig: 1 x: 266 y: 125 width: 7 height: 11
block 1: sig: 1 x: 139 y: 122 width: 15 height: 2
block 2: sig: 1 x: 235 y: 126 width: 8 height: 8
block 3: sig: 1 x: 199 y: 129 width: 7 height: 2
block 4: sig: 1 x: 86 y: 121 width: 6 height: 2
81
Figure 40c
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82
25 mm Lens at 4 meter distance , light is 0.1 m from pins. WRO Bowling Round 2 Setup
Figure 41a
Figure 41b
LTU-ARISE-2015-01
Figure 41c
Detected 6:
block 0: sig: 1 x: 114 y: 129 width: 12 height: 10
block 1: sig: 1 x: 206 y: 128 width: 7 height: 3
block 2: sig: 1 x: 60 y: 133 width: 9 height: 2
block 3: sig: 1 x: 248 y: 135 width: 9 height: 2
block 4: sig: 2 x: 157 y: 140 width: 19 height: 24
block 5: sig: 2 x: 158 y: 112 width: 10 height: 7
Detected 7:
block 0: sig: 1 x: 113 y: 130 width: 12 height: 11
block 1: sig: 1 x: 61 y: 133 width: 10 height: 3
block 2: sig: 1 x: 206 y: 129 width: 7 height: 2
block 3: sig: 1 x: 249 y: 135 width: 9 height: 2
block 4: sig: 2 x: 158 y: 142 width: 20 height: 19
block 5: sig: 2 x: 158 y: 112 width: 10 height: 6
block 6: sig: 2 x: 149 y: 163 width: 3 height: 3
Detected 6:
block 0: sig: 1 x: 114 y: 130 width: 10 height: 12
block 1: sig: 1 x: 61 y: 133 width: 10 height: 2
block 2: sig: 1 x: 206 y: 129 width: 7 height: 2
block 3: sig: 1 x: 247 y: 135 width: 6 height: 2
block 4: sig: 2 x: 158 y: 145 width: 21 height: 25
block 5: sig: 2 x: 158 y: 114 width: 10 height: 11
83
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84
25 mm Lens at 4 meter distance , light is 0.6 m from pins. WRO Bowling Round 2 Setup
Figure 42a
Figure 42b
LTU-ARISE-2015-01
85
Figure 42c
Detected 5:
block 0: sig: 1 x: 115 y: 129 width: 13 height: 9
block 1: sig: 1 x: 207 y: 128 width: 7 height: 2
block 2: sig: 1 x: 62 y: 134 width: 9 height: 2
block 3: sig: 2 x: 160 y: 157 width: 20 height: 42
block 4: sig: 2 x: 160 y: 117 width: 10 height: 16
Detected 4:
block 0: sig: 1 x: 115 y: 129 width: 13 height: 9
block 1: sig: 1 x: 161 y: 127 width: 9 height: 2
block 2: sig: 2 x: 159 y: 157 width: 21 height: 42
block 3: sig: 2 x: 160 y: 117 width: 10 height: 16
Detected 6:
block 0: sig: 1 x: 115 y: 129 width: 13 height: 9
block 1: sig: 1 x: 207 y: 128 width: 7 height: 2
block 2: sig: 1 x: 250 y: 135 width: 6 height: 2
block 3: sig: 1 x: 66 y: 133 width: 4 height: 2
block 4: sig: 2 x: 159 y: 156 width: 21 height: 44
block 5: sig: 2 x: 160 y: 117 width: 9 height: 15
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86
25 mm Lens at 4 meter distance , light is 1.1 m from pins. WRO Bowling Round 2 Setup
Figure 43a
Figure 43b
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Figure 43c
Detected 5:
block 0: sig: 1 x: 118 y: 131 width: 13 height: 10
block 1: sig: 1 x: 253 y: 129 width: 6 height: 3
block 2: sig: 1 x: 211 y: 135 width: 6 height: 2
block 3: sig: 2 x: 163 y: 143 width: 20 height: 66
block 4: sig: 2 x: 197 y: 103 width: 3 height: 2
Detected 3:
block 0: sig: 1 x: 120 y: 130 width: 10 height: 11
block 1: sig: 1 x: 252 y: 129 width: 7 height: 2
block 2: sig: 2 x: 162 y: 146 width: 21 height: 64
Detected 4:
block 0: sig: 1 x: 119 y: 130 width: 12 height: 11
block 1: sig: 1 x: 252 y: 129 width: 5 height: 3
block 2: sig: 1 x: 211 y: 135 width: 9 height: 3
block 3: sig: 2 x: 163 y: 144 width: 20 height: 67
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25 mm Lens at 4 meter distance , light is 2.6 m from pins. WRO Bowling Round 2 Setup (Extreme Case)
Figure 44a
Figure 44b
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Figure 44c
Detected 6:
block 0: sig: 1 x: 119 y: 130 width: 12 height: 10
block 1: sig: 1 x: 164 y: 127 width: 6 height: 2
block 2: sig: 1 x: 210 y: 135 width: 6 height: 2
block 3: sig: 1 x: 252 y: 136 width: 5 height: 2
block 4: sig: 2 x: 163 y: 156 width: 20 height: 44
block 5: sig: 2 x: 163 y: 117 width: 11 height: 16
Detected 5:
block 0: sig: 1 x: 119 y: 130 width: 12 height: 10
block 1: sig: 1 x: 253 y: 136 width: 7 height: 2
block 2: sig: 1 x: 211 y: 135 width: 8 height: 2
block 3: sig: 1 x: 65 y: 127 width: 5 height: 2
block 4: sig: 2 x: 163 y: 144 width: 20 height: 67
Detected 6:
block 0: sig: 1 x: 119 y: 130 width: 12 height: 11
block 1: sig: 1 x: 166 y: 127 width: 8 height: 3
block 2: sig: 1 x: 210 y: 135 width: 7 height: 2
block 3: sig: 1 x: 64 y: 127 width: 5 height: 2
block 4: sig: 2 x: 163 y: 156 width: 20 height: 44
block 5: sig: 2 x: 163 y: 118 width: 11 height: 14
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90
6.1 mm lens at 4 m away, light is 0.1 m from pins. WRO Bowling Round 2 Setup
Figure 45a
Figure 45b
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91
Figure 45c
Detected 1:
block 0: sig: 2 x: 158 y: 120 width: 3 height: 15
Detected 1:
block 0: sig: 2 x: 158 y: 120 width: 3 height: 15
Detected 1:
block 0: sig: 2 x: 158 y: 121 width: 3 height: 16
Detected 1:
block 0: sig: 2 x: 158 y: 120 width: 3 height: 15
Detected 1:
block 0: sig: 2 x: 158 y: 121 width: 3 height: 16
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6.1 mm lens at 4 m away, light is 0.6 m from pins. WRO Bowling Round 2 Setup
Figure 46a
Figure 46b
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93
Figure 46c
Detected 1:
block 0: sig: 2 x: 162 y: 124 width: 4 height: 9
Detected 1:
block 0: sig: 2 x: 161 y: 124 width: 3 height: 6
Detected 2:
block 0: sig: 1 x: 53 y: 87 width: 2 height: 2
block 1: sig: 2 x: 160 y: 124 width: 3 height: 9
Detected 2:
block 0: sig: 1 x: 53 y: 87 width: 2 height: 2
block 1: sig: 2 x: 161 y: 125 width: 4 height: 7
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94
6.1 mm lens at 4 m away, light is 1.1 m from pins. WRO Bowling Round 2 Setup
Figure 47a
Figure 47b
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Figure 47c
Detected 5:
block 0: sig: 1 x: 19 y: 83 width: 2 height: 4
block 1: sig: 1 x: 15 y: 119 width: 2 height: 2
block 2: sig: 1 x: 14 y: 129 width: 2 height: 2
block 3: sig: 1 x: 21 y: 71 width: 2 height: 2
block 4: sig: 2 x: 161 y: 121 width: 5 height: 15
Detected 2:
block 0: sig: 2 x: 162 y: 121 width: 4 height: 16
block 1: sig: 2 x: 20 y: 114 width: 2 height: 2
Detected 3:
block 0: sig: 1 x: 18 y: 88 width: 2 height: 10
block 1: sig: 1 x: 15 y: 118 width: 2 height: 2
block 2: sig: 2 x: 161 y: 121 width: 3 height: 16
Detected 3:
block 0: sig: 1 x: 315 y: 123 width: 9 height: 25
block 1: sig: 1 x: 16 y: 104 width: 2 height: 11
block 2: sig: 2 x: 161 y: 121 width: 3 height: 16
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6.1 mm lens at 4 m away, light is 1.1 m from pins. WRO Bowling Round 2 Setup
Figure 48a
Figure 48b
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97
Figure 48c
Detected 1:
block 0: sig: 2 x: 162 y: 125 width: 4 height: 3
Detected 1:
block 0: sig: 2 x: 161 y: 127 width: 3 height: 3
Detected 1:
block 0: sig: 2 x: 161 y: 124 width: 2 height: 2
Detected 1:
block 0: sig: 2 x: 161 y: 126 width: 3 height: 7
Detected 1:
block 0: sig: 2 x: 161 y: 125 width: 2 height: 3
Detected 1:
block 0: sig: 2 x: 163 y: 115 width: 2 height: 2
Detected 1:
block 0: sig: 2 x: 162 y: 125 width: 4 height: 5
Detected 1:
block 0: sig: 2 x: 163 y: 126 width: 4 height: 6
Detected 1:
block 0: sig: 2 x: 163 y: 122 width: 4 height: 2
Detected 1:
block 0: sig: 2 x: 161 y: 127 width: 3 height: 4
Detected 1:
block 0: sig: 2 x: 161 y: 122 width: 3 height: 3
Detected 1:
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Observations on Pixy detection of pins with varied lighting conditions:
1. Under the experimental conditions, the different lighting conditions had little to no effect on
the 25 mm lens' ability to detect small features
2. The 6.1 mm lens has trouble detecting the objects due to the different lighting conditions - it
sees nothing but the green pin
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4. Conclusion
From the experiments conducted, the following conclusions can be drawn:
1. The size of each object is the dominant factor in determining how easily it is detected by
each lens on the Pixy CMUcam5.
2. The focal length of each lens has a significant effect on object detection.
3. Small lenses can detect small features only up to a very limited distance, while the larger
lenses can detect small features at long ranges (up to 4 meters in this study).
4. Within the testing conditions in this study, to the larger lenses, it seems that varied lighting
has little to no effect on their ability to detect small features.
5. For the pins used in the WRO challenge, the small red stripes can be detected with
appropriate range control by the larger lenses, and the green pins can be easily seen
6. The environment should be carefully controlled to prevent the Pixy cam from picking up
outside noise and interference
References:
1. http://cmucam.org/projects/cmucam5/wiki
2. http://www.eagleoptics.com/articles/technical-guide/field-of-view
3. http://www.wro2015.org/rules/BowlingGameRules_v0302.pdf
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