NAO-autoSearching

It's a object recognition algorithm based on NAO robot by using naoqi、OpenCv、Numpy、matplotlib etc..

Intro

It's a robotic searching and recognition algorithn by Python.And it's mainly based on OpenCV、Naoqi、Numpy、PIL module.

The process :

Open the robot's head camera --> Get image --> Binary image --> Morphology --> Get 2D locate --> Transform to 3D locate --> Go to the target --> Pick it --> Go to another target position --> Drop it

The process's detail :

The process has many part:

Adjusting NAO robot, preparing for getting the image. Open the robot's camera ,using naoqi to get the image, get robot's current parameter likes head angle or pitch angle.
Recognition ... Binary the image to a two color image by HSV color space which in the opencv library.After that , using numpy or something like matrix calculator to calculate the image's location.Finally ,transform the 2D location to a absolutely distance by the principle of ranging(it's not so accurate because the robot's move can change itself's parameter).
Moving After getting the distance between robot and the target,using the 3D measure algorithm to transfer it to 3D locate which needs many joint's parameter.
Picking and Dropping How to control the hand to the target? I use the Cartesian algorithm to handle it. (The algo is based on the dynamic 3D robotic model which provide a Array contains six angel.)