This was a project at the University of Warwick, the task was to make the robot autonomously navigate around a block of buildings.
It was achieved this by using a LiDAR for wall following and a GPS for navigating around the open areas.
The video is running at 2x.
httpvh://www.youtube.com/watch?v=tZo0-6XdmVA
This an example on how to use morphological operator in OpenCV to close gaps.
int main(int argc, char* argv[])
{
IplImage *image;
IplImage *dilated_image;
IplImage *eroded_image;
image = cvLoadImage ("triangle.jpg");dilated_image = cvCloneImage (image);
eroded_image = cvCloneImage (image);cvNamedWindow ("Original", 1);
cvNamedWindow ("Dilated", 1);
cvNamedWindow ("Eroded", 1);cvShowImage ("Original", image);
cvDilate (image, dilated_image, 0, 7);
cvShowImage ("Dilated", dilated_image);cvErode (dilated_image, eroded_image, 0, 6);
cvShowImage ("Eroded", eroded_image);cvWaitKey ();
cvReleaseImage (&image);
cvDestroyWindow ("Original");
cvReleaseImage (&dilated_image);
cvDestroyWindow ("Dilated");
cvReleaseImage (&eroded_image);
cvDestroyWindow ("Eroded");return 0;
}
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This a source code for sircle detection.
void findCircles( IplImage* img, CvMemStorage* storage ){
CvSeq* circles;
IplImage* cpy = cvCreateImage(cvGetSize(img),8,1);
int i;
float* circ;
cvCvtColor(img,cpy,CV_RGB2GRAY);
circles =
cvHoughCircles(cpy,storage,CV_HOUGH_GRADIENT,2,cpy->height/4,200,100);
for(i=0;i < circles->total;i++){
CvSeq
circ=(float*)cvGetSeqElem(circles,i);
cvCircle(img,cvPoint(cvRound(circ[0]),cvRound(circ[1])),cvRound(circ[2]),CV_RGB(255,255,255),1,8,0);
}
cvReleaseImage(&cpy);
}
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