Autonomus robot meant to collect blue boxes around a map. The robot is a lego robot with varius sensors.
Features
General
Odometry
Kalman filter
Path-planning
Perception
Motion control
Localization
Part 1
Coloured box detection
Detect numbers on boxes
Distance to box
Robot construction
Part 2
Cox line fit
Parameters
Parameter
Type
Description
Default
SCALE
int
Optional. Optimization parameter
1
Parameter
Type
Description
Default
HSV_LOW_BOUND
Scalar
Required. HSV lower bound value for contour
(99,130,177)
Parameter
Type
Description
Default
HSV_HIGH_BOUND
Scalar
Required. HSV upper bound value for contour
(117,255,255)
Optimizations
Added scale hyperparameter that scales down the input image before running the contour function. Represents the integer that divides the original size of the image to create a smaller image