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SJSURoboticsTeam / urc-intelligent-systems-2023

Intelligent Rover Systems for University Rover Challenge. Involves Computer Vision & Algorithm Pathing for autonomous exploration.
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Object Detection for Orange Rubber Mallet #84

Closed Maaz0070 closed 8 months ago

Maaz0070 commented 1 year ago

Issue Summary

For URC 2024 we must develop object detection functionality to autonomously locate and approach an orange rubber mallet using OpenCV or other and python:

Issue Description

One of the objects that participating rovers need to detect and approach is an orange rubber mallet. The mallet may have varying orientations and could be positioned against a brownish orange background, making accurate detection challenging.

Feature Requirements

The feature should include:

  1. Object Detection: Accurate and reliable detection of an orange rubber mallet.
  2. Background Variation: The ability to detect the mallet even when placed against a brownish orange background.
  3. GNSS Integration: Integration of GNSS coordinates for precise mallet localization. The rover should be able to determine the distance to the mallet in terms of [lat, long] and command the rover to drive up to it(similar to implementation in Aruco detector)

Acceptance Criteria

  1. Successful detection and approach of the orange rubber mallet within a specified radius.
  2. Reliable detection even when the mallet is positioned against a brownish orange background.
  3. Accurate GNSS localization of the mallet.

References

chrehall68 commented 8 months ago

Completed in branch gael-malletwater-detection, same with #85; some code is reusable while others will need to be tweaked for URC 2025