Presented by: Doron Brot, Maimon Vanunu, Elia Tzirulnick Supervised by: Johanan Erez, Ina Krinsky,...
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Transcript of Presented by: Doron Brot, Maimon Vanunu, Elia Tzirulnick Supervised by: Johanan Erez, Ina Krinsky,...
Presented by:
Doron Brot, Maimon Vanunu, Elia Tzirulnick
Supervised by:
Johanan Erez, Ina Krinsky, Dror Ouzana
Vision & Image Science Laboratory, Department of Electrical Engineering,Technion
Steps to achieve the goal
Aims and motivation of the project
Algorithm for Traffics Signs Recognition
Results
Conclusions
Control a self navigating vehicle according to traffic signs
• Build a controllable vehicle.
• Attach a wireless camera to the vehicle.
• Capture pictures from camera to computer.
• Analyze the visual data and translate it into controlling commands for the vehicle
Build a controllable vehicle.
Mindstorms Robot Mindstorms Robot Invention System Invention System
Build a controllable vehicle
Build a controllable vehicle.
Communication to PC through Infra-red transmitter.
Attach a wireless camera to the vehicle.
WAT-207CD CCD Color Camera
Wireless video transmitter
Attach a wireless camera to the vehicle.
Wireless connection between camera and PC
Capture pictures from camera to computer.
VideoOCX® software can handle all kinds of ‘Video for Windows’ ® compatible devices.
Flyvideo 98 video capture card
Microsoft Visual Basic 6.0
Phantom- a set of functions for the VB 6.0 that helps us control the LEGO™ vehicle.
Analyze the visual data and translate it into controlling commands for the vehicle
Calculate the distance of the vehicle from traffic sign.
Capture one frame from the video camera.
Decide whether there is a traffic sign in the frame or not.
If there is, recognize the traffic sign.
NO
X
25 cm
GO RIGHT
If vehicle is close enough to the sign
send control command to RCX.
YES
• How humans see colors.
• Conversion from RGB to HSV color space.
• Use Saturation in order to find colored areas in frame.
• Analyze the colored areas according to Hue.
• Recognize traffic sign.
• Sum colored pixels to calculate distance to the traffic sign.
• Send control command according to recognized sign.
The human eye
Visible Light
The Retina
שני סוגי קולטנים:
(Rodsקנים )•
(Conesמדוכים )•
הקולטנים ברשתית
-http://wwwמקור: cvrl.ucsd.edu/
Image representation in computer file – graylevel image.
Image representation in computer file – color image.
RGB values of traffic sign images
Not very helpful !
Conversion from RGB to HSV color space.
The HSV color space )hue, saturation, value( is often used by people because it corresponds better to how people experience color than the RGB color space does.
As hue varies, the corresponding colors vary from red, through yellow, green, cyan, blue, and magenta, back to red.
Understanding HSV color space
As saturation varies, the corresponding colors )hues( vary from unsaturated )shades of gray( to fully saturated )no white component(.
Understanding HSV color space
As value, or brightness, varies, the corresponding colors become increasingly brighter.
Understanding HSV color space
Use Saturation in order to find colored areas in each frame.
Analyze the colored areas according to Hue.
Recognize traffic sign. For example:
If the hue value of any pixel is between 200 and 250 that means that the color is red so we painted the pixel pure red.
Sum colored pixels to calculate distance to the traffic sign.
Send control command according to recognized sign.
If number of colored pixels suits a known sign, in a sufficient distance
Example:
Blue – 434 pixels
Red – 591 pixels
Graphical User Interface - GUI
The navigating vehicle.
• Successful recognition of traffic signs of different colors.
• White – gray background was helpful.
• For real traffic sign recognition more sophisticated algorithms have to be used )colored background, real-time processing etc(.
• The vehicle can only recognize the traffic signs we programmed it to )“Turn Right”, “No Parking” and “Stop”(.
http://visl.technion.ac.il/projects/scitech02
We would like to thank our mentors: Johanan Erez, Ina Krinsky and Dror Ouzana.
Thanks to our counselors: Adva, Eran , May-Tal and koby.
Thanks to Ort Management.
We would also like to thank the Ollendorff Research Center for its support.