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HSV Pixel Values in OpenCV

Filed under: OPENCV — 5 Comments
February 14, 2012

HSV color space is more often used in machine vision owing to its superior performance compared to RGB color space in varying illumination levels. Often thresholding and masking is done in HSV color space. So it is very important to know the HSV values of the color which we want to filter out. HSV color space of  OpenCV is a bit complicated than other software programmes like Gimp, Photoshop etc.So  I have written a small python script to grab frames from a camera, and print the HSV value of the pixel under the cursor

Screenshot

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Chippu gets new Hardware

Filed under: Microcontrollers, Projects, ROS — 1 Comment

Chippu has now upgraded its hardware, and is now much smarter. The Atmega32 is replaced by a more powerful and feature rich Atmega128 based Wiring Board. It has  53 I/O pins, 8 analog inputs, 2 hardware serial ports, 6 PWM (analog outputs), SPI, TWI, 8 external interrupts pins. Also it can drive a maximum of 24 servo motors. Quite impressive. A motor control board based on L293D was also added. Here are a few shots.

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WIRING: a low cost alternative to Arduino

Filed under: Hacks, Microcontrollers — 3 Comments
February 13, 2012

I was using an Atmega32 based Arduino  clone for the low level hardware control of  my personal robot Chippu. But soon ran  into problems  as the code size increased and  the inbuilt RAM of 2kb overflowed often, and it caused the ROS node running on Arduino to go out of sync. Also I needed to drive about 16 servo motors , and my Arduino permitted only a maximum of 12.  So the only alternative was to go for a powerful Arduino Mega 2560.

Wiring Board V1.0

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Indian Online Shops selling Electronics & Robotics Components

Filed under: Uncategorized — 28 Comments
January 30, 2012

There are a handful of online shops in india that provides electronics components. Some of them specilizes in robotics components alone, while some specializes in embedded boards, while some others provides all types of components and boards. The prices of the same component varies greatly among different shops, so it is wise to refer as many shops before making a heavy purchase.

The shops  are:

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Chippu Speech Recognition

Filed under: Projects, ROS — 7 Comments
January 11, 2012

Chippu has easily learnt to recognize human speech. It uses Julius for speech recognition as explained in the previous post. The following video shows the speech recognition abilities of chippu.

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Speech Recogition using Julius in Linux

Filed under: Projects, ROS — 19 Comments

Speech recognition in Linux is generally considered tough, but it can be done with very good results. Julian is a special version of Julius which performs grammar based speech recognition.  The video shows the the speech recognition in action.

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As we can see, there occurs no error in the recognition of sentences.

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Chippu – A Robot to run ROS

Filed under: Projects, ROS — 14 Comments
January 7, 2012


  Lately i was busy in the hardware design of a personal robot named Chippu. It is an open source project and runs ROS, the same powerful code framework that runs on many robots like PR2. It is made as economical as possible. At present there is no on-board processing and it is done in a remote computer. But in near future, Chippu will shift to something like a beagleboard.

Chippu

Chippu

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Jumping into ROS – The prerequisites

Filed under: ROS — Leave a comment
December 20, 2011

Really you won’t look back if you jump into the world of open source robotics using ROS. The main advantage is that you will not end up re-inventing the wheel.  While ROS is used in many research laboratories and universities, you don’t have to be an academic to use it. The installation instructions of ROS are here and they are pretty straightforward. Once installed and set up, it is time to rock. The basic tutorials about the ROS filesystem,terminology, etc will do very good.

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ROS – An Operating System and Simulator for your Robot

Filed under: ROS — 2 Comments
December 16, 2011

Robot Operating System (ROS) is a software framework for robot software development, providing operating system-like functionality on a heterogenous computer cluster. It can be called a meta operating system and its development continues primarily at Willow Garage. The latest version of ROS is ROS Electric Emys.

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OpenCV SURF Robot

Filed under: OPENCV, Projects — 21 Comments
December 15, 2011

I built a small robot to detect an object using image processing techniques and when the object is found, it goes near to it and picks it up.

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