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MissouriMRDT / Autonomy_Software

Autonomous Traversal and Object Detection for Rovers
https://marsrover.mst.edu
GNU General Public License v3.0
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[Enhancement] Update image pre-processing for ArUco detection #333

Open Kai-Shafe opened 1 month ago

Kai-Shafe commented 1 month ago

Why Is This Enhancement Needed?

Currently the PreprocessFrame method within the ArucoDetection.hpp file processes the image to be oversaturated with white in bright outdoor environments. We need to update this method to provide a clean image to the ArUco detector.

Proposed Solution

Research openCV methods (https://docs.opencv.org/4.x/index.html) that might be useful in adjusting color channels, saturation, and image sharpening.

Additional Context

This will require a lot of testing. We may want to look into testing on competition videos from URC 2024 to get the most accurate data for validating the image pre-processing.

targed commented 1 month ago

Here is our shared research document: https://docs.google.com/document/d/1xmxCX-uZ7o4p38zRuX_uIIv0dRsqYUljtu_S3qEJqJw/edit?usp=drivesdk