Design of a Laser Pointer Follower Robot

Facundo Garcia-Cardenas; Nelson Soberon; Cristian Amaya; Victor Murray

doi:10.1109/INTERCON50315.2020.9220239

Design of a Laser Pointer Follower Robot

Facundo Garcia-Cardenas
, Nelson Soberon
, Cristian Amaya
, Victor Murray

University of Engineering and Technology UTEC
The University of New Mexico
Harvard University

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

Resumen

We propose a system that performs automatic laser spot detection and tracking. Our laser spot detection approach is based on the HSV color model, thresholding, and center of mass. For tracking, a system of quadrants was used to move a camera depending on the center of mass. Also, the distance to the laser spot is calculated using a stereo vision configuration and geometric relationships. The proposed architecture is composed of an embedded computer that controls a low cost, semi-autonomous sentry robot attached to it. Our results show a robust real-time system that can detect a laser spot and track it, with a distance error lower than 0.80% on average and an execution time of 62 milliseconds per frame, that can be used in different applications.

Idioma original	Inglés
Título de la publicación alojada	Proceedings of the 2020 IEEE 27th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020
Editorial	Institute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)	9781728193779
DOI	https://doi.org/10.1109/INTERCON50315.2020.9220239
Estado	Publicada - set. 2020
Publicado de forma externa	Sí
Evento	27th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020 - Virtual, Lima, Perú Duración: 3 set. 2020 → 5 set. 2020

Serie de la publicación

Nombre	Proceedings of the 2020 IEEE 27th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020

Conferencia

Conferencia	27th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020
País/Territorio	Perú
Ciudad	Virtual, Lima
Período	3/09/20 → 5/09/20

ODS de las Naciones Unidas

Este resultado contribuye a los siguientes Objetivos de Desarrollo Sostenible

ODS 7: Energía asequible y no contaminante

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10.1109/INTERCON50315.2020.9220239

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Garcia-Cardenas, F., Soberon, N., Amaya, C., & Murray, V. (2020). Design of a Laser Pointer Follower Robot. En Proceedings of the 2020 IEEE 27th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020 Artículo 9220239 (Proceedings of the 2020 IEEE 27th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/INTERCON50315.2020.9220239

Garcia-Cardenas, Facundo ; Soberon, Nelson ; Amaya, Cristian et al. / Design of a Laser Pointer Follower Robot. Proceedings of the 2020 IEEE 27th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020. Institute of Electrical and Electronics Engineers Inc., 2020. (Proceedings of the 2020 IEEE 27th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020).

@inproceedings{41cbb103ed5f469298855b273d8fcff1,

title = "Design of a Laser Pointer Follower Robot",

abstract = "We propose a system that performs automatic laser spot detection and tracking. Our laser spot detection approach is based on the HSV color model, thresholding, and center of mass. For tracking, a system of quadrants was used to move a camera depending on the center of mass. Also, the distance to the laser spot is calculated using a stereo vision configuration and geometric relationships. The proposed architecture is composed of an embedded computer that controls a low cost, semi-autonomous sentry robot attached to it. Our results show a robust real-time system that can detect a laser spot and track it, with a distance error lower than 0.80\% on average and an execution time of 62 milliseconds per frame, that can be used in different applications.",

keywords = "laser tracking, Stereo vision",

author = "Facundo Garcia-Cardenas and Nelson Soberon and Cristian Amaya and Victor Murray",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 27th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020 ; Conference date: 03-09-2020 Through 05-09-2020",

year = "2020",

month = sep,

doi = "10.1109/INTERCON50315.2020.9220239",

language = "English",

series = "Proceedings of the 2020 IEEE 27th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020",

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Garcia-Cardenas, F, Soberon, N, Amaya, C & Murray, V 2020, Design of a Laser Pointer Follower Robot. En Proceedings of the 2020 IEEE 27th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020., 9220239, Proceedings of the 2020 IEEE 27th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020, Institute of Electrical and Electronics Engineers Inc., 27th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020, Virtual, Lima, Perú, 3/09/20. https://doi.org/10.1109/INTERCON50315.2020.9220239

Design of a Laser Pointer Follower Robot. / Garcia-Cardenas, Facundo; Soberon, Nelson; Amaya, Cristian et al.
Proceedings of the 2020 IEEE 27th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020. Institute of Electrical and Electronics Engineers Inc., 2020. 9220239 (Proceedings of the 2020 IEEE 27th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

TY - GEN

T1 - Design of a Laser Pointer Follower Robot

AU - Garcia-Cardenas, Facundo

AU - Soberon, Nelson

AU - Amaya, Cristian

AU - Murray, Victor

PY - 2020/9

Y1 - 2020/9

N2 - We propose a system that performs automatic laser spot detection and tracking. Our laser spot detection approach is based on the HSV color model, thresholding, and center of mass. For tracking, a system of quadrants was used to move a camera depending on the center of mass. Also, the distance to the laser spot is calculated using a stereo vision configuration and geometric relationships. The proposed architecture is composed of an embedded computer that controls a low cost, semi-autonomous sentry robot attached to it. Our results show a robust real-time system that can detect a laser spot and track it, with a distance error lower than 0.80% on average and an execution time of 62 milliseconds per frame, that can be used in different applications.

AB - We propose a system that performs automatic laser spot detection and tracking. Our laser spot detection approach is based on the HSV color model, thresholding, and center of mass. For tracking, a system of quadrants was used to move a camera depending on the center of mass. Also, the distance to the laser spot is calculated using a stereo vision configuration and geometric relationships. The proposed architecture is composed of an embedded computer that controls a low cost, semi-autonomous sentry robot attached to it. Our results show a robust real-time system that can detect a laser spot and track it, with a distance error lower than 0.80% on average and an execution time of 62 milliseconds per frame, that can be used in different applications.

KW - laser tracking

KW - Stereo vision

UR - https://www.scopus.com/pages/publications/85095426969

U2 - 10.1109/INTERCON50315.2020.9220239

DO - 10.1109/INTERCON50315.2020.9220239

M3 - Conference contribution

AN - SCOPUS:85095426969

T3 - Proceedings of the 2020 IEEE 27th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020

BT - Proceedings of the 2020 IEEE 27th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 27th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020

Y2 - 3 September 2020 through 5 September 2020

ER -

Garcia-Cardenas F, Soberon N, Amaya C, Murray V. Design of a Laser Pointer Follower Robot. En Proceedings of the 2020 IEEE 27th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020. Institute of Electrical and Electronics Engineers Inc. 2020. 9220239. (Proceedings of the 2020 IEEE 27th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020). doi: 10.1109/INTERCON50315.2020.9220239

Design of a Laser Pointer Follower Robot

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