lawrence technological university / autonomous robotics ...• processor: nxp lpc4330, 204 mhz, dual...

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Lawrence Technological University / Autonomous Robotics Institute for Supporting Education - Technical Memo ARISE-2015-01

An Experimental Study on Pixy CMUcam5 Vision Sensor

Charles Liu* Salem High School

46181 Joy Rd Canton, MI, 48187

Christopher Geng* Northville High School

45700 Six Mile Rd, Northville, MI 48168

Faculty Advsior: Dr. CJ Chung, Professor of Computer Science & Director of ARISE at LTU

1. Introduction 2 2. Experiment setup 2.1 Pixy CMUcam5 camera and Pixymon 2 2.2 Test setup 3 2.3 Experimental objects 4 3. Experiment results and analysis 3.1 Regular objects 6 3.2 Irregular shapes and features 17 3.3 Bowling pins 57 3.4 Different lighting conditions 66 4. Conclusion 96 References 96 (*) 2015 summer research intern at Lawrence Technological University

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1. Introduction Back then, the idea of having a robot see what was in front of it was only a concept. Today, vision has become a part of reality. There are many advantages to using vision. With the precise detection of objects, having a vision sensor give us more information than a laser sensor could give, such as color, position, and shape. In conjunction with the WRO 2015 University challenge, the idea to experiment with vision sensors came up. Looking at different sensors, a new sensor has come to attention. Pixy CMUcam5, developed by Carnegie Mellon University and Charmed Labs, is a small and fast vision sensor capable of recording seven different color signatures. The purposes of this study are to provide application to the WRO and insight to how Pixy camera works to people around the world.

2. Experiment equipment and setup 2.1 Pixy CMUcam5 and Pixymon

The Pixy CMUcam5 camera was developed by Carnegie Mellon University and Charmed Labs. Here are some basic facts about the Pixy CMUcam5 (from its website):

• Small, fast, easy-to-use, low-cost, readily-available vision system • Learns to detect objects that you teach it • Outputs what it detects 50 times per second • Connects to Arduino with included cable. Also works with Raspberry Pi, BeagleBone and

similar controllers • All libraries for Arduino, Raspberry Pi, etc. are provided • C/C++ and Python are supported • Communicates via one of several interfaces: SPI, I2C, UART, USB or analog/digital output • Configuration utility runs on Windows, MacOS and Linux • All software/firmare is open-source GNU-licensed

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• All hardware documentation including schematics, bill of materials, PCB layout, etc. are provided

In addition, here are some more specific technical facts about the Pixy CMUcam5:

• Processor: NXP LPC4330, 204 MHz, dual core • Image sensor: Omnivision OV9715, 1/4", 1280x800 • Lens field-of-view: 75 degrees horizontal, 47 degrees vertical • Lens type: standard M12 (several different types available) • Power consumption: 140 mA typical • Power input: USB input (5V) or unregulated input (6V to 10V) • RAM: 264K bytes • Flash: 1M bytes • Available data outputs: UART serial, SPI, I2C, USB, digital, analog • Dimensions: 2.1" x 2.0" x 1.4 • Weight: 27 grams

2.2 Test setup

Figure 1a Figure 1b The experiment setup (Figure 1a) consists of a Pixy CMUcam5 mounted on a Tetrix channel (to adjust for height) connected to an Arduino Uno microprocessor, which is plugged into a laptop.

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The Pixy camera is also connected to the computer to enable the use of Pixymon software. There are two tables which extend out to 4 meters, on which the experimental objects are placed. Two lamps were also placed on either side of the table to control the lighting for the tests on varied lighting conditions. Figure 1b is a closer view of the data acquisition system: Pixy camera, Arduino microcontroller, and NXT brick. The Pixy sends limited information to the Arduino, which then sends it through an adapter to the NXT using I2C communications.

Figure 2a Figure 2b Figure 2a shows all four lens used in the experiment; the top left lens is the 2.1 mm lens that comes with the Pixy, the top right is the 6.1 mm lens, the bottom left is the 12 mm lens, and the bottom right is the 25 mm lens. Figure 2b shows the system in operation. On the computer screen are the Pixymon software, Arduino software, and Arduino serial operation, all of which provide useful data. 2.3 Experimental objects Three groups of objects were used in the experiment. The first group was seven sheets of standard colored paper (Figure 3a). The second group was made of eight irregular objects (Figure 3a). Two were spheres, one red and one green. There were also four pins, two of which had the standard double red lines at the neck, one of which had a much wider solid red line at the neck, and one which had a green body. Two more objects were blocks made of multiple Legos stacked together, one red and one green. The third group was made of pins arranged in different patterns. In Figure 3b, the pin in the top right has a thicker band for range-finding purposes. In Figure 3c, there is a green pin which matches the second round of the WRO 2015 RU bowling challenge.

12 mm

2.1 mm 6.1 mm

25 mm

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Figure 3a

Figure 3b

Figure 3c

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3. Experiment results and analysis 3.1 Regular objects (4 meters distance) 2.1 mm lens, Color Calibration

Figure 4a

Figure 4b

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Figure 4c

Data output in Arduino serial monitor: ********************************************************* Detected 4: block 0: sig: 1 x: 130 y: 119 width: 12 height: 17 block 1: sig: 2 x: 145 y: 117 width: 12 height: 11 block 2: sig: 3 x: 158 y: 119 width: 12 height: 11 block 3: sig: 4 x: 171 y: 122 width: 9 height: 15 Detected 4: block 0: sig: 1 x: 130 y: 119 width: 12 height: 17 block 1: sig: 2 x: 144 y: 120 width: 11 height: 17 block 2: sig: 3 x: 159 y: 117 width: 12 height: 5 block 3: sig: 4 x: 172 y: 122 width: 10 height: 12 Detected 4: block 0: sig: 1 x: 130 y: 119 width: 12 height: 17 block 1: sig: 2 x: 145 y: 119 width: 12 height: 12 block 2: sig: 3 x: 158 y: 122 width: 10 height: 4 block 3: sig: 4 x: 171 y: 128 width: 9 height: 8 Detected 4: block 0: sig: 1 x: 130 y: 119 width: 12 height: 17 block 1: sig: 2 x: 144 y: 120 width: 11 height: 16 block 2: sig: 3 x: 157 y: 124 width: 11 height: 8 block 3: sig: 4 x: 172 y: 121 width: 10 height

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6.1 mm lens Color Calibration

Figure 5a

Figure 5b

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Figure 5c

Data output in Arduino serial monitor: ********************************************************* Detected 6: block 0: sig: 1 x: 114 y: 118 width: 8 height: 37 block 1: sig: 2 x: 123 y: 119 width: 7 height: 38 block 2: sig: 3 x: 134 y: 122 width: 10 height: 32 block 3: sig: 4 x: 146 y: 119 width: 10 height: 37 block 4: sig: 5 x: 158 y: 120 width: 12 height: 38 block 5: sig: 6 x: 170 y: 120 width: 10 height: 36 Detected 6: block 0: sig: 1 x: 114 y: 118 width: 8 height: 37 block 1: sig: 2 x: 123 y: 119 width: 7 height: 38 block 2: sig: 3 x: 135 y: 121 width: 10 height: 34 block 3: sig: 4 x: 146 y: 120 width: 10 height: 38 block 4: sig: 5 x: 157 y: 124 width: 11 height: 29 block 5: sig: 6 x: 170 y: 121 width: 11 height: 38 Detected 6: block 0: sig: 1 x: 114 y: 118 width: 8 height: 37 block 1: sig: 2 x: 124 y: 119 width: 8 height: 38 block 2: sig: 3 x: 134 y: 119 width: 10 height: 38 block 3: sig: 4 x: 146 y: 120 width: 10 height: 38 block 4: sig: 5 x: 157 y: 120 width: 11 height: 38 block 5: sig: 6 x: 170 y: 121 width: 12 height:

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12 mm lens Color Calibration

Figure 6a

Figure 6b


Figure 6c

Data output in Arduino serial monitor: ********************************************************* Detected 6: block 0: sig: 1 x: 104 y: 128 width: 17 height: 73 block 1: sig: 2 x: 123 y: 129 width: 17 height: 74 block 2: sig: 3 x: 143 y: 130 width: 20 height: 72 block 3: sig: 4 x: 164 y: 137 width: 20 height: 59 block 4: sig: 5 x: 187 y: 131 width: 24 height: 74 block 5: sig: 6 x: 209 y: 133 width: 21 height: 69 Detected 7: block 0: sig: 1 x: 104 y: 128 width: 17 height: 73 block 1: sig: 2 x: 123 y: 129 width: 17 height: 74 block 2: sig: 3 x: 143 y: 129 width: 20 height: 73 block 3: sig: 4 x: 164 y: 130 width: 19 height: 72 block 4: sig: 5 x: 187 y: 131 width: 24 height: 74 block 5: sig: 6 x: 210 y: 137 width: 21 height: 61 block 6: sig: 6 x: 209 y: 99 width: 19 height: 4 Detected 8: block 0: sig: 1 x: 104 y: 128 width: 17 height: 73 block 1: sig: 2 x: 123 y: 113 width: 17 height: 43 block 2: sig: 2 x: 122 y: 157 width: 17 height: 18 block 3: sig: 3 x: 143 y: 132 width: 19 height: 67 block 4: sig: 4 x: 164 y: 130 width: 20 height: 74 block 5: sig: 5 x: 187 y: 130 width: 24 height: 73 block 6: sig: 6 x: 209 y: 139 width: 21 height: 58 block 7: sig: 6 x: 210 y: 97 width: 18 height: 4


25 mm lens Color Calibration

Figure 7a

Figure 7b


Figure 7c

Detected 6: block 0: sig: 1 x: 52 y: 104 width: 38 height: 155 block 1: sig: 2 x: 92 y: 104 width: 40 height: 157 block 2: sig: 3 x: 134 y: 104 width: 44 height: 159 block 3: sig: 4 x: 178 y: 105 width: 43 height: 158 block 4: sig: 5 x: 226 y: 105 width: 50 height: 158 block 5: sig: 6 x: 275 y: 105 width: 49 height: 159 Detected 6: block 0: sig: 1 x: 52 y: 104 width: 38 height: 155 block 1: sig: 2 x: 91 y: 104 width: 41 height: 157 block 2: sig: 3 x: 134 y: 104 width: 44 height: 159 block 3: sig: 4 x: 178 y: 105 width: 43 height: 158 block 4: sig: 5 x: 226 y: 105 width: 50 height: 157 block 5: sig: 6 x: 275 y: 105 width: 48 height: 159 Detected 6: block 0: sig: 1 x: 52 y: 104 width: 38 height: 155 block 1: sig: 2 x: 92 y: 104 width: 40 height: 157 block 2: sig: 3 x: 134 y: 104 width: 44 height: 159 block 3: sig: 4 x: 178 y: 105 width: 43 height: 157 block 4: sig: 5 x: 225 y: 105 width: 49 height: 157 block 5: sig: 6 x: 275 y: 105 width: 48 height: 159


Comparison of center coordinates, width, and height for different signatures and lenses:

Figure 8a

Figure 8b

0

50

100

150

200

250

300

1 2 3 4 5 6

X Po

sitio

n

Signature Number

6.1mm lens

12mm lens

25mm lens

2.1mm lens

0

20

40

60

80

100

120

140

160

1 2 3 4 5 6

Y Po

sitio

n

Signature Number

6.1mm lens

12mm lens

25mm lens

2.1mm lens


Figure 8c

Figure 8d

0

10

20

30

40

50

60

1 2 3 4 5 6

Wid

th

Signature Number

6.1mm lens

12mm lens

25mm lens

2.1mm lens

0

20

40

60

80

100

120

140

160

180

1 2 3 4 5 6

Heig

ht

Signature Number

6.1mm lens

12mm lens

25mm lens

2.1mm lens


Observations on Pixy detection of regular objects: 1. From Figures 4a, 5a, 6a, and 7a, it is easy to see that lenses with larger magnifications have smaller fields of view (FOV) 2. The 2.1 mm lens cannot see all 6 colored sheets of paper reliably at this distance; its ability to detect the signatures fluctuates 3. The other three lens have no trouble seeing all 6 colors with stable output 4. Figure 8a shows the effect of the lens' magnification on the actual x-value (for example, the 25 mm lens has the smallest reading for signature 1 but the largest reading for signature 6) 5. Figure 8b shows that the 7-values are relatively constant, reflecting the similar heights of the pieces of paper 6. Figures 8c and 8d show that widths and heights vary widely for each signature for different lenses (because of different fields of vision), but are relatively constant across the signatures for each lens


3.2 Irregular shapes and features 2.1 mm Lens, 0.5 m Distance

Figure 9a

Figure 9b


Figure 9c Data output in Arduino serial monitor: ********************************************************* block 0: sig: 1 x: 235 y: 134 width: 18 height: 55 block 1: sig: 1 x: 70 y: 123 width: 13 height: 18 block 2: sig: 1 x: 144 y: 115 width: 7 height: 8 block 3: sig: 2 x: 107 y: 124 width: 30 height: 29


2.1 mm Lens, 1 m Distance

Figure 10

Figure 10b


Figure 10c

Data output in Arduino serial monitor: ********************************************************* block 0: sig: 1 x: 203 y: 127 width: 7 height: 29 block 1: sig: 1 x: 112 y: 121 width: 5 height: 10 block 2: sig: 1 x: 156 y: 116 width: 2 height: 3 block 3: sig: 2 x: 135 y: 121 width: 17 height: 15


2.1mm lens, 2.5 m Distance

Figure 11a

Figure 11b


Figure 11c

Data output in Arduino serial monitor: ********************************************************* block 0: sig: 1 x: 177 y: 123 width: 3 height: 10 block 1: sig: 1 x: 144 y: 120 width: 3 height: 3 block 2: sig: 2 x: 150 y: 121 width: 2 height: 2


2.1 mm Lens, 3 m Distance

Figure 12a

Figure 12b


Figure 12c

Data output in Arduino serial monitor: ********************************************************* block 0: sig: 1 x: 182 y: 123 width: 2 height: 8 block 1: sig: 1 x: 152 y: 121 width: 3 height: 2 block 2: sig: 2 x: 157 y: 122 width: 3 height: 2


2.1 mm Lens, 4 m distance

Figure 13a

Figure 13b


Figure 13c

Data output in Arduino serial monitor: ********************************************************* No values

Summary table


6.1 mm lens, 0.5 m distance

Figure 14a

Figure 14b


Figure 14c Data output in Arduino serial monitor: ********************************************************* block 0: sig: 1 x: 288 y: 141 width: 50 height: 116 block 1: sig: 1 x: 118 y: 111 width: 18 height: 20 block 2: sig: 1 x: 170 y: 109 width: 14 height: 4 block 3: sig: 1 x: 214 y: 109 width: 15 height: 4 block 4: sig: 1 x: 168 y: 121 width: 16 height: 4 block 5: sig: 1 x: 213 y: 119 width: 12 height: 2 block 6: sig: 1 x: 1 y: 140 width: 2 height: 15 block 7: sig: 2 x: 49 y: 137 width: 72 height: 69 block 8: sig: 2 x: 315 y: 172 width: 10 height: 54 block 9: sig: 2 x: 207 y: 137 width: 37 height: 29 block 10: sig: 2 x: 214 y: 84 width: 17 height: 6 block 11: sig: 2 x: 315 y: 129 width: 5 height: 19 block 12: sig: 2 x: 198 y: 174 width: 5 height: 18 block 13: sig: 2 x: 317 y: 108 width: 6 height: 4 block 14: sig: 2 x: 317 y: 98 width: 6 height: 2 block 15: sig: 2 x: 316 y: 89 width: 5 height: 2 block 16: sig: 2 x: 134 y: 142 width: 3 height:


6.1 mm lens, 1 m distance

Figure 15a

Figure 15b


Figure 15c Data output in Arduino serial monitor: ********************************************************* block 0: sig: 1 x: 59 y: 127 width: 27 height: 25 block 1: sig: 1 x: 231 y: 133 width: 34 height: 66 block 2: sig: 1 x: 141 y: 113 width: 10 height: 10 block 3: sig: 1 x: 165 y: 112 width: 5 height: 2 block 4: sig: 2 x: 101 y: 127 width: 36 height: 36 block 5: sig: 2 x: 189 y: 135 width: 18 height: 32 block 6: sig: 2 x: 94 y: 194 width: 21 height: 2 block 7: sig: 2 x: 266 y: 135 width: 19 height: 58 block 8: sig: 2 x: 315 y: 126 width: 2 height: 4 block 9: sig: 2 x: 187 y: 58 width: 4 height: 3 block 10: sig: 2 x: 137 y: 120 width: 3 height: 2 block 11: sig: 2 x: 319 y: 39 width: 2 height: 2

6.1 mm lens, 2.5 m distance


Figure 16a

Figure 16b


Figure 16c

Data output in Arduino serial monitor: ********************************************************* block 0: sig: 1 x: 191 y: 124 width: 6 height: 23 block 1: sig: 1 x: 120 y: 122 width: 9 height: 9 block 2: sig: 2 x: 138 y: 124 width: 5 height: 10 block 3: sig: 2 x: 205 y: 122 width: 3 height: 13 block 4: sig: 2 x: 265 y: 128 width: 2 height: 5 block 5: sig: 2 x: 265 y: 111 width: 3 height: 4 block 6: sig: 2 x: 317 y: 45 width: 2 height: 3 block 7: sig: 2 x: 264 y: 141 width: 3 height: 2 block 8: sig: 2 x: 79 y: 101 width: 2 height: 2 block 9: sig: 2 x: 317 y: 59 width: 4 height: 2 block 10: sig: 2 x: 168 y: 125 width: 2 height: 2 block 11: sig: 2 x: 318 y: 12 width: 3 height: 2



Figure 17a

Figure 17b


Figure 17c

Data output in Arduino serial monitor: ********************************************************* block 0: sig: 1 x: 110 y: 120 width: 8 height: 6 block 1: sig: 1 x: 165 y: 119 width: 5 height: 16 block 2: sig: 2 x: 288 y: 108 width: 3 height: 3 block 3: sig: 2 x: 287 y: 118 width: 3 height: 3 block 4: sig: 2 x: 290 y: 62 width: 3 height: 3 block 5: sig: 2 x: 121 y: 118 width: 11 height: 2 block 6: sig: 2 x: 239 y: 126 width: 2 height: 2 block 7: sig: 2 x: 304 y: 79 width: 5 height: 2 block 8: sig: 2 x: 232 y: 80 width: 3 height: 2



Figure 18a

Figure 18b


Figure 18c Data output in Arduino serial monitor: ********************************************************* block 0: sig: 1 x: 186 y: 121 width: 4 height: 14 block 1: sig: 1 x: 142 y: 121 width: 5 height: 5 block 2: sig: 2 x: 148 y: 121 width: 4 height: 2 block 3: sig: 2 x: 196 y: 118 width: 2 height: 2 block 4: sig: 2 x: 319 y: 150 width: 2 height: 2 block 5: sig: 2 x: 256 y: 111 width: 3 height: 2 block 6: sig: 2 x: 153 y: 125 width: 4 height: 2 block 7: sig: 2 x: 255 y: 94 width: 2 height: 2

Summary Table


12 mm lens, 0.5 m distance

Figure 19a

Figure 19b


Figure 19c block 0: sig: 1 x: 49 y: 122 width: 34 height: 43 block 1: sig: 1 x: 296 y: 166 width: 46 height: 61 block 2: sig: 1 x: 290 y: 87 width: 34 height: 52 block 3: sig: 1 x: 126 y: 137 width: 34 height: 10 block 4: sig: 1 x: 204 y: 128 width: 14 height: 7 block 5: sig: 1 x: 124 y: 114 width: 22 height: 11 block 6: sig: 1 x: 201 y: 109 width: 12 height: 9 block 7: sig: 2 x: 191 y: 182 width: 15 height: 34 block 8: sig: 2 x: 9 y: 74 width: 2 height: 18 block 9: sig: 2 x: 197 y: 64 width: 11 height: 15 block 10: sig: 2 x: 195 y: 154 width: 13 height: 8 block 11: sig: 2 x: 13 y: 58 width: 2 height: 6 block 12: sig: 2 x: 201 y: 142 width: 4 height: 4 block 13: sig: 2 x: 14 y: 185 width: 3 height: 4 block 14: sig: 2 x: 257 y: 184 width: 3 height: 4 block 15: sig: 2 x: 2 y: 173 width: 5 height: 17 block 16: sig: 2 x: 40 y: 61 width: 3 height: 4 block 17: sig: 2 x: 235 y: 164 width: 2 height: 3 block 18: sig: 2 x: 173 y: 191 width: 3 height: 10 block 19: sig: 2 x: 228 y: 82 width: 3 height: 2 block 20: sig: 2 x: 190 y: 79 width: 2 height: 2 block 21: sig: 2 x: 229 y: 66 width: 2 height: 2


12 mm lens, 1 m distance

Figure 20a

Figure 20b


Figure 20c block 0: sig: 1 x: 112 y: 118 width: 18 height: 21 block 1: sig: 1 x: 278 y: 169 width: 49 height: 60 block 2: sig: 1 x: 6 y: 147 width: 13 height: 30 block 3: sig: 1 x: 246 y: 115 width: 14 height: 45 block 4: sig: 1 x: 160 y: 116 width: 13 height: 4 block 5: sig: 1 x: 161 y: 127 width: 10 height: 4 block 6: sig: 1 x: 10 y: 171 width: 5 height: 4 block 7: sig: 1 x: 206 y: 112 width: 13 height: 3 block 8: sig: 1 x: 206 y: 122 width: 11 height: 2 block 9: sig: 1 x: 299 y: 92 width: 2 height: 2 block 10: sig: 2 x: 51 y: 173 width: 56 height: 18 block 11: sig: 2 x: 30 y: 141 width: 19 height: 7 block 12: sig: 2 x: 9 y: 110 width: 7 height: 37 block 13: sig: 2 x: 34 y: 121 width: 14 height: 14 block 14: sig: 2 x: 309 y: 134 width: 4 height: 93 block 15: sig: 2 x: 195 y: 148 width: 8 height: 18 block 16: sig: 2 x: 309 y: 191 width: 6 height: 16 block 17: sig: 2 x: 24 y: 44 width: 9 height: 17 block 18: sig: 2 x: 13 y: 63 width: 6 height: 5 block 19: sig: 2 x: 82 y: 139 width: 6 height: 3 block 20: sig: 2 x: 219 y: 152 width: 5 height: 10 block 21: sig: 2 x: 192 y: 187 width: 3 height: 4



Figure 21a

Figure 21b


Figure 21c

Data output in Arduino serial monitor: ********************************************************* block 0: sig: 1 x: 139 y: 124 width: 6 height: 7 block 1: sig: 1 x: 86 y: 134 width: 9 height: 10 block 2: sig: 1 x: 87 y: 146 width: 6 height: 2 block 3: sig: 2 x: 6 y: 111 width: 5 height: 92 block 4: sig: 2 x: 246 y: 128 width: 14 height: 34 block 5: sig: 2 x: 14 y: 51 width: 5 height: 15 block 6: sig: 2 x: 251 y: 156 width: 4 height: 4 block 7: sig: 2 x: 241 y: 156 width: 4 height: 4 block 8: sig: 2 x: 22 y: 42 width: 5 height: 2 block 9: sig: 2 x: 11 y: 163 width: 2 height: 3 block 10: sig: 2 x: 177 y: 117 width: 2 height: 3 block 11: sig: 2 x: 199 y: 134 width: 3 height: 3 block 12: sig: 2 x: 309 y: 31 width: 6 height: 3 block 13: sig: 2 x: 41 y: 193 width: 2 height: 2 block 14: sig: 2 x: 173 y: 145 width: 3 height: 2 block 15: sig: 2 x: 163 y: 136 width: 3 height: 2



Figure 22a

Figure 22b


Figure 22c Data output in Arduino serial monitor: ********************************************************* block 0: sig: 1 x: 149 y: 126 width: 4 height: 6 block 1: sig: 1 x: 209 y: 152 width: 9 height: 2 block 2: sig: 1 x: 103 y: 134 width: 6 height: 2 block 3: sig: 2 x: 16 y: 40 width: 9 height: 9 block 4: sig: 2 x: 165 y: 136 width: 4 height: 9 block 5: sig: 2 x: 35 y: 192 width: 2 height: 12 block 6: sig: 2 x: 304 y: 33 width: 3 height: 4 block 7: sig: 2 x: 27 y: 34 width: 6 height: 2 block 8: sig: 2 x: 7 y: 52 width: 6 height: 2 block 9: sig: 2 x: 37 y: 22 width: 2 height: 3 block 10: sig: 2 x: 137 y: 134 width: 3 height: 2



Figure 23a

Figure 23b


Figure 23c

block 0: sig: 1 x: 127 y: 131 width: 10 height: 7 block 1: sig: 2 x: 175 y: 137 width: 7 height: 5 block 2: sig: 2 x: 144 y: 137 width: 8 height: 9 block 3: sig: 2 x: 24 y: 28 width: 9 height: 3 block 4: sig: 2 x: 316 y: 41 width: 8 height: 4 block 5: sig: 2 x: 6 y: 38 width: 5 height: 2 block 6: sig: 2 x: 289 y: 31 width: 4 height: 4 block 7: sig: 2 x: 299 y: 35 width: 5 height: 2

Summary Table



Figure 24a

Figure 24b


Figure 24c Data output in Arduino serial monitor: ********************************************************* block 0: sig: 1 x: 59 y: 93 width: 70 height: 26 block 1: sig: 1 x: 246 y: 83 width: 71 height: 23 block 2: sig: 1 x: 59 y: 143 width: 72 height: 26 block 3: sig: 1 x: 246 y: 124 width: 67 height: 17 block 4: sig: 2 x: 246 y: 36 width: 90 height: 72 block 5: sig: 2 x: 246 y: 166 width: 105 height: 65 block 6: sig: 2 x: 245 y: 106 width: 66 height: 23



Figure 25a

Figure 25b


Figure 25c

Data output in Arduino serial monitor: ********************************************************* block 0: sig: 1 x: 295 y: 117 width: 48 height: 151 block 1: sig: 1 x: 33 y: 113 width: 38 height: 48 block 2: sig: 1 x: 116 y: 104 width: 31 height: 12 block 3: sig: 1 x: 202 y: 99 width: 34 height: 11 block 4: sig: 1 x: 118 y: 129 width: 33 height: 11 block 5: sig: 1 x: 201 y: 120 width: 31 height: 8 block 6: sig: 2 x: 200 y: 162 width: 81 height: 74 block 7: sig: 2 x: 201 y: 61 width: 46 height: 64 block 8: sig: 2 x: 200 y: 111 width: 32 height: 10 block 9: sig: 2 x: 268 y: 154 width: 3 height: 3



Figure 26a

Figure 26b


Figure 26c Data output in Arduino serial monitor: ********************************************************* block 0: sig: 1 x: 258 y: 148 width: 39 height: 99 block 1: sig: 1 x: 40 y: 160 width: 40 height: 41 block 2: sig: 1 x: 138 y: 129 width: 14 height: 18 block 3: sig: 1 x: 203 y: 124 width: 10 height: 2 block 4: sig: 1 x: 166 y: 134 width: 3 height: 2 block 5: sig: 2 x: 95 y: 153 width: 62 height: 55 block 6: sig: 2 x: 291 y: 149 width: 27 height: 99 block 7: sig: 2 x: 202 y: 166 width: 30 height: 64 block 8: sig: 2 x: 201 y: 109 width: 16 height: 21 block 9: sig: 2 x: 137 y: 109 width: 4 height: 18 block 10: sig: 2 x: 169 y: 104 width: 4 height: 8 block 11: sig: 2 x: 232 y: 104 width: 5 height: 6



Figure 27a

Figure 27b


Figure 27c Data output in Arduino serial monitor: ********************************************************* block 0: sig: 1 x: 251 y: 151 width: 40 height: 84 block 1: sig: 1 x: 55 y: 164 width: 37 height: 34 block 2: sig: 1 x: 140 y: 136 width: 11 height: 14 block 3: sig: 2 x: 284 y: 150 width: 27 height: 83 block 4: sig: 2 x: 104 y: 157 width: 53 height: 45 block 5: sig: 2 x: 191 y: 151 width: 43 height: 83 block 6: sig: 2 x: 141 y: 119 width: 5 height: 15 block 7: sig: 2 x: 229 y: 118 width: 5 height: 16 block 8: sig: 2 x: 230 y: 145 width: 4 height: 3



Figure 28a

Figure 28b


Figure 28c block 0: sig: 1 x: 258 y: 142 width: 17 height: 63 block 1: sig: 1 x: 58 y: 151 width: 26 height: 24 block 2: sig: 1 x: 129 y: 131 width: 7 height: 10 block 3: sig: 1 x: 159 y: 129 width: 6 height: 2 block 4: sig: 2 x: 92 y: 147 width: 35 height: 34 block 5: sig: 2 x: 300 y: 140 width: 19 height: 61 block 6: sig: 2 x: 192 y: 154 width: 18 height: 37 block 7: sig: 2 x: 191 y: 117 width: 9 height: 13 Summary Table


Observations on Pixy detection of irregular objects and small features: 1. Even the 2.1mm lens can see small features at closer ranges (Figures 9b and 9c) but loses the ability to see even the large objects at longer ranges (Figures 13b and 13c) 2. The 25 mm lens can see even the smallest features at the longest ranges (Figures 28b and 28c) 3. No matter the shape of the object, it is detected as a block 4. Regularly shaped objects are easier to detect (Figures 21b and 21c) 5. The FOV of each lens affects how many objects it can see (Figure 24b) 6. Some of the pictures picked up outside interference (noise) as signatures (i.e Figure 21c)


3.3 Bowling pins Actual WRO 2015 Bowling Round 1 Setup (3.6 meters away, 25 mm Camera)

Figure 29a

Figure 29b


Data output in Arduino serial monitor: ********************************************************* Detected 9: block 0: sig: 1 x: 277 y: 135 width: 9 height: 11 block 1: sig: 1 x: 136 y: 133 width: 9 height: 9 block 2: sig: 1 x: 170 y: 134 width: 9 height: 9 block 3: sig: 1 x: 209 y: 135 width: 9 height: 9 block 4: sig: 1 x: 106 y: 132 width: 7 height: 9 block 5: sig: 1 x: 238 y: 132 width: 7 height: 3 block 6: sig: 1 x: 72 y: 127 width: 5 height: 2 block 7: sig: 1 x: 238 y: 139 width: 9 height: 2 block 8: sig: 1 x: 241 y: 108 width: 3 height: 8 Detected 8: block 0: sig: 1 x: 278 y: 135 width: 10 height: 12 block 1: sig: 1 x: 136 y: 133 width: 9 height: 9 block 2: sig: 1 x: 170 y: 134 width: 9 height: 9 block 3: sig: 1 x: 209 y: 135 width: 9 height: 9 block 4: sig: 1 x: 239 y: 135 width: 10 height: 9 block 5: sig: 1 x: 107 y: 132 width: 8 height: 8 block 6: sig: 1 x: 73 y: 127 width: 7 height: 3 block 7: sig: 1 x: 241 y: 107 width: 3 height: 8 Detected 8: block 0: sig: 1 x: 277 y: 135 width: 9 height: 11 block 1: sig: 1 x: 171 y: 134 width: 11 height: 9 block 2: sig: 1 x: 209 y: 135 width: 9 height: 10 block 3: sig: 1 x: 136 y: 133 width: 9 height: 9 block 4: sig: 1 x: 237 y: 135 width: 5 height: 9 block 5: sig: 1 x: 107 y: 132 width: 7 height: 9 block 6: sig: 1 x: 73 y: 130 width: 7 height: 9 block 7: sig: 1 x: 241 y: 108 width: 3 height: 8


Next we will try detecting the pins from a different location, different camera angle.

Different Camera Angle

Figure 30a

Figure 30b


Next we will try to detect the pins in the Round 2 formation (which includes a green pin)

Actual WRO 2015 Bowling Round 2 Setup (3.6 meters away, 25 mm Camera)

Figure 31a

Figure 31b


Data output in Arduino serial monitor: ********************************************************* Detected 7: block 0: sig: 1 x: 175 y: 62 width: 13 height: 10 block 1: sig: 1 x: 225 y: 65 width: 17 height: 8 block 2: sig: 1 x: 130 y: 61 width: 9 height: 8 block 3: sig: 1 x: 75 y: 55 width: 5 height: 2 block 4: sig: 1 x: 30 y: 56 width: 5 height: 8 block 5: sig: 2 x: 175 y: 86 width: 17 height: 41 block 6: sig: 2 x: 178 y: 50 width: 6 height: 13 Detected 7: block 0: sig: 1 x: 175 y: 61 width: 13 height: 11 block 1: sig: 1 x: 224 y: 65 width: 15 height: 8 block 2: sig: 1 x: 130 y: 61 width: 9 height: 8 block 3: sig: 1 x: 75 y: 58 width: 5 height: 8 block 4: sig: 1 x: 31 y: 56 width: 6 height: 8 block 5: sig: 2 x: 175 y: 87 width: 17 height: 39 block 6: sig: 2 x: 177 y: 50 width: 7 height: 14 Detected 8: block 0: sig: 1 x: 175 y: 61 width: 13 height: 11 block 1: sig: 1 x: 224 y: 65 width: 15 height: 8 block 2: sig: 1 x: 129 y: 61 width: 9 height: 8 block 3: sig: 1 x: 74 y: 58 width: 5 height: 8 block 4: sig: 1 x: 31 y: 53 width: 6 height: 2 block 5: sig: 1 x: 31 y: 59 width: 9 height: 2 block 6: sig: 2 x: 175 y: 86 width: 17 height: 41 block 7: sig: 2 x: 178 y: 50 width: 9 height: 12 Detected 7: block 0: sig: 1 x: 175 y: 62 width: 13 height: 10 block 1: sig: 1 x: 225 y: 65 width: 16 height: 9 block 2: sig: 1 x: 130 y: 61 width: 9 height: 8 block 3: sig: 1 x: 75 y: 55 width: 6 height: 2 block 4: sig: 1 x: 30 y: 56 width: 6 height: 8 block 5: sig: 2 x: 175 y: 88 width: 17 height: 38 block 6: sig: 2 x: 177 y: 50 width: 6 height: 13 Detected 7: block 0: sig: 1 x: 175 y: 62 width: 13 height: 10 block 1: sig: 1 x: 224 y: 65 width: 15 height: 8 block 2: sig: 1 x: 129 y: 61 width: 9 height: 8 block 3: sig: 1 x: 75 y: 58 width: 5 height: 8 block 4: sig: 1 x: 31 y: 56 width: 6 height: 8 block 5: sig: 2 x: 176 y: 88 width: 18 height: 38 block 6: sig: 2 x: 177 y: 51 width: 6 height: 12


At different camera angles

Figure 32a

Figure 32b


Detected 9: block 0: sig: 1 x: 161 y: 64 width: 5 height: 10 block 1: sig: 1 x: 204 y: 65 width: 6 height: 8 block 2: sig: 1 x: 224 y: 62 width: 5 height: 2 block 3: sig: 1 x: 178 y: 62 width: 5 height: 2 block 4: sig: 1 x: 129 y: 62 width: 5 height: 2 block 5: sig: 1 x: 81 y: 62 width: 5 height: 2 block 6: sig: 1 x: 69 y: 62 width: 5 height: 2 block 7: sig: 1 x: 24 y: 64 width: 5 height: 8 block 8: sig: 2 x: 270 y: 78 width: 17 height: 64 Detected 11: block 0: sig: 1 x: 163 y: 64 width: 9 height: 10 block 1: sig: 1 x: 178 y: 65 width: 7 height: 8 block 2: sig: 1 x: 25 y: 64 width: 6 height: 8 block 3: sig: 1 x: 204 y: 65 width: 6 height: 8 block 4: sig: 1 x: 224 y: 62 width: 5 height: 2 block 5: sig: 1 x: 129 y: 62 width: 5 height: 2 block 6: sig: 1 x: 82 y: 62 width: 6 height: 2 block 7: sig: 1 x: 112 y: 62 width: 7 height: 2 block 8: sig: 1 x: 270 y: 61 width: 5 height: 2 block 9: sig: 2 x: 270 y: 88 width: 17 height: 41 block 10: sig: 2 x: 270 y: 52 width: 6 height: 13 Detected 10: block 0: sig: 1 x: 163 y: 64 width: 9 height: 10 block 1: sig: 1 x: 225 y: 62 width: 6 height: 2 block 2: sig: 1 x: 70 y: 62 width: 6 height: 2 block 3: sig: 1 x: 204 y: 65 width: 5 height: 8 block 4: sig: 1 x: 178 y: 62 width: 5 height: 2 block 5: sig: 1 x: 129 y: 62 width: 5 height: 2 block 6: sig: 1 x: 82 y: 62 width: 6 height: 2 block 7: sig: 1 x: 24 y: 64 width: 5 height: 8 block 8: sig: 1 x: 113 y: 62 width: 7 height: 2 block 9: sig: 2 x: 270 y: 78 width: 17 height: 64 Detected 9: block 0: sig: 1 x: 161 y: 64 width: 5 height: 10 block 1: sig: 1 x: 205 y: 62 width: 6 height: 2 block 2: sig: 1 x: 69 y: 65 width: 7 height: 8 block 3: sig: 1 x: 25 y: 61 width: 6 height: 2 block 4: sig: 1 x: 177 y: 62 width: 5 height: 2 block 5: sig: 1 x: 128 y: 62 width: 5 height: 2 block 6: sig: 1 x: 223 y: 62 width: 5 height: 2 block 7: sig: 1 x: 81 y: 62 width: 5 height: 2 block 8: sig: 2 x: 270 y: 78 width: 16 height: 64


And now for a Different Green Pin Position

Figure 33a

Figure 33b


Detected 6: block 0: sig: 1 x: 216 y: 71 width: 10 height: 10 block 1: sig: 1 x: 29 y: 69 width: 13 height: 9 block 2: sig: 1 x: 271 y: 69 width: 9 height: 2 block 3: sig: 1 x: 94 y: 67 width: 5 height: 2 block 4: sig: 2 x: 153 y: 94 width: 17 height: 41 block 5: sig: 2 x: 154 y: 58 width: 7 height: 14 Detected 7: block 0: sig: 1 x: 215 y: 71 width: 9 height: 10 block 1: sig: 1 x: 30 y: 69 width: 14 height: 9 block 2: sig: 1 x: 271 y: 69 width: 9 height: 2 block 3: sig: 1 x: 94 y: 67 width: 5 height: 2 block 4: sig: 1 x: 153 y: 67 width: 6 height: 2 block 5: sig: 2 x: 153 y: 95 width: 17 height: 41 block 6: sig: 2 x: 154 y: 58 width: 7 height: 14 Detected 8: block 0: sig: 1 x: 216 y: 71 width: 10 height: 10 block 1: sig: 1 x: 30 y: 66 width: 13 height: 3 block 2: sig: 1 x: 30 y: 72 width: 15 height: 3 block 3: sig: 1 x: 271 y: 69 width: 9 height: 2 block 4: sig: 1 x: 94 y: 67 width: 5 height: 2 block 5: sig: 1 x: 153 y: 67 width: 6 height: 2 block 6: sig: 2 x: 154 y: 95 width: 18 height: 42 block 7: sig: 2 x: 154 y: 58 width: 7 height: 14 Detected 7: block 0: sig: 1 x: 216 y: 71 width: 10 height: 10 block 1: sig: 1 x: 30 y: 69 width: 13 height: 9 block 2: sig: 1 x: 271 y: 69 width: 9 height: 2 block 3: sig: 1 x: 94 y: 67 width: 5 height: 2 block 4: sig: 1 x: 153 y: 67 width: 6 height: 2 block 5: sig: 2 x: 153 y: 95 width: 17 height: 42 block 6: sig: 2 x: 154 y: 58 width: 6 height: 13


Observations on Pixy detection of WRO RU challenge pins: 1. With appropriate range adjustment, the 25 mm lens can detect the small features on the white pins 2. The 25 mm lens has no problems detecting the green pin no matter the pattern of the pins


3.4 Different lighting conditions 25 mm lens at 4 meter distance, light is 0.5 m from objects

Figure 34a

Figure 34b


Figure 34c

Detected 9: block 0: sig: 1 x: 250 y: 135 width: 18 height: 64 block 1: sig: 1 x: 43 y: 136 width: 21 height: 19 block 2: sig: 1 x: 117 y: 121 width: 9 height: 10 block 3: sig: 1 x: 211 y: 123 width: 7 height: 8 block 4: sig: 1 x: 176 y: 118 width: 7 height: 2 block 5: sig: 2 x: 285 y: 136 width: 17 height: 62 block 6: sig: 2 x: 83 y: 136 width: 34 height: 34 block 7: sig: 2 x: 175 y: 138 width: 17 height: 26 block 8: sig: 2 x: 175 y: 110 width: 9 height: 12 Detected 10: block 0: sig: 1 x: 250 y: 135 width: 18 height: 64 block 1: sig: 1 x: 44 y: 136 width: 19 height: 19 block 2: sig: 1 x: 117 y: 121 width: 8 height: 10 block 3: sig: 1 x: 210 y: 120 width: 5 height: 2 block 4: sig: 1 x: 211 y: 126 width: 8 height: 2 block 5: sig: 1 x: 176 y: 118 width: 6 height: 2 block 6: sig: 2 x: 285 y: 136 width: 17 height: 62 block 7: sig: 2 x: 82 y: 136 width: 35 height: 34 block 8: sig: 2 x: 175 y: 138 width: 14 height: 26 block 9: sig: 2 x: 175 y: 110 width: 9 height: 11


25 mm lens at 4 meter distance, light is 1 m from objects

Figure 35a

Figure 35b


Figure 35c

Detected 9: block 0: sig: 1 x: 261 y: 137 width: 18 height: 63 block 1: sig: 1 x: 53 y: 140 width: 24 height: 21 block 2: sig: 1 x: 127 y: 123 width: 7 height: 11 block 3: sig: 1 x: 186 y: 121 width: 5 height: 2 block 4: sig: 1 x: 222 y: 123 width: 7 height: 2 block 5: sig: 2 x: 93 y: 138 width: 37 height: 33 block 6: sig: 2 x: 296 y: 138 width: 17 height: 63 block 7: sig: 2 x: 185 y: 144 width: 17 height: 35 block 8: sig: 2 x: 185 y: 114 width: 7 height: 10 Detected 9: block 0: sig: 1 x: 260 y: 138 width: 19 height: 64 block 1: sig: 1 x: 53 y: 140 width: 25 height: 22 block 2: sig: 1 x: 128 y: 123 width: 9 height: 11 block 3: sig: 1 x: 187 y: 121 width: 6 height: 2 block 4: sig: 1 x: 157 y: 122 width: 7 height: 2 block 5: sig: 2 x: 296 y: 138 width: 17 height: 63 block 6: sig: 2 x: 93 y: 138 width: 34 height: 33 block 7: sig: 2 x: 187 y: 143 width: 14 height: 33 block 8: sig: 2 x: 186 y: 112 width: 8 height: 14


25 mm lens at 4 meter distance, light is 1.5 m from objects

Figure 36a

Figure 36b


Figure 36c

Detected 10: block 0: sig: 1 x: 261 y: 137 width: 18 height: 64 block 1: sig: 1 x: 51 y: 140 width: 27 height: 23 block 2: sig: 1 x: 126 y: 123 width: 7 height: 10 block 3: sig: 1 x: 221 y: 125 width: 7 height: 8 block 4: sig: 1 x: 186 y: 120 width: 6 height: 2 block 5: sig: 2 x: 296 y: 138 width: 17 height: 62 block 6: sig: 2 x: 92 y: 138 width: 35 height: 34 block 7: sig: 2 x: 185 y: 111 width: 7 height: 13 block 8: sig: 2 x: 183 y: 150 width: 12 height: 14 block 9: sig: 2 x: 185 y: 129 width: 8 height: 4 Detected 9: block 0: sig: 1 x: 261 y: 137 width: 18 height: 64 block 1: sig: 1 x: 52 y: 140 width: 26 height: 22 block 2: sig: 1 x: 127 y: 122 width: 8 height: 11 block 3: sig: 1 x: 186 y: 120 width: 7 height: 2 block 4: sig: 2 x: 91 y: 138 width: 35 height: 34 block 5: sig: 2 x: 296 y: 137 width: 16 height: 62 block 6: sig: 2 x: 184 y: 111 width: 7 height: 13 block 7: sig: 2 x: 186 y: 145 width: 5 height: 17 block 8: sig: 2 x: 185 y: 128 width: 8 height: 4


25 mm lens at 4 meter distance, light is 0.5 m from objects. WRO Bowling Round 1 Setup

Figure 37a

Figure 37b


Figure 37c

Detected 6: block 0: sig: 1 x: 144 y: 125 width: 10 height: 5 block 1: sig: 1 x: 228 y: 122 width: 6 height: 2 block 2: sig: 1 x: 254 y: 126 width: 5 height: 8 block 3: sig: 1 x: 95 y: 120 width: 5 height: 2 block 4: sig: 1 x: 171 y: 121 width: 9 height: 2 block 5: sig: 1 x: 199 y: 122 width: 5 height: 3 Detected 4: block 0: sig: 1 x: 145 y: 125 width: 10 height: 8 block 1: sig: 1 x: 228 y: 122 width: 6 height: 2 block 2: sig: 1 x: 255 y: 129 width: 8 height: 2 block 3: sig: 1 x: 95 y: 120 width: 5 height: 2 Detected 4: block 0: sig: 1 x: 254 y: 123 width: 5 height: 2 block 1: sig: 1 x: 228 y: 122 width: 5 height: 2 block 2: sig: 1 x: 144 y: 127 width: 10 height: 2 block 3: sig: 1 x: 199 y: 122 width: 5 height: 2 Detected 6: block 0: sig: 1 x: 144 y: 124 width: 11 height: 8 block 1: sig: 1 x: 254 y: 123 width: 5 height: 2 block 2: sig: 1 x: 228 y: 122 width: 6 height: 2 block 3: sig: 1 x: 255 y: 129 width: 9 height: 2 block 4: sig: 1 x: 200 y: 122 width: 6 height: 2 block 5: sig: 1 x: 95 y: 120 width: 5 height: 2



Figure 38a

Figure 38b


Figure 38c

Detected 4: block 0: sig: 1 x: 266 y: 126 width: 7 height: 10 block 1: sig: 1 x: 166 y: 122 width: 11 height: 2 block 2: sig: 1 x: 86 y: 127 width: 6 height: 2 block 3: sig: 1 x: 107 y: 122 width: 7 height: 2 Detected 3: block 0: sig: 1 x: 266 y: 126 width: 7 height: 10 block 1: sig: 1 x: 139 y: 123 width: 13 height: 2 block 2: sig: 1 x: 86 y: 127 width: 6 height: 2 Detected 6: block 0: sig: 1 x: 266 y: 126 width: 9 height: 10 block 1: sig: 1 x: 139 y: 128 width: 14 height: 3 block 2: sig: 1 x: 166 y: 125 width: 11 height: 9 block 3: sig: 1 x: 86 y: 127 width: 7 height: 2 block 4: sig: 1 x: 201 y: 130 width: 10 height: 2 block 5: sig: 1 x: 106 y: 121 width: 5 height: 2 Detected 3: block 0: sig: 1 x: 266 y: 126 width: 6 height: 10 block 1: sig: 1 x: 107 y: 122 width: 7 height: 2 block 2: sig: 1 x: 143 y: 128 width: 3 height: 2



Figure 39a

Figure 39b


Figure 39c

Detected 6: block 0: sig: 1 x: 266 y: 125 width: 9 height: 10 block 1: sig: 1 x: 138 y: 121 width: 15 height: 3 block 2: sig: 1 x: 166 y: 121 width: 10 height: 2 block 3: sig: 1 x: 107 y: 120 width: 8 height: 3 block 4: sig: 1 x: 198 y: 125 width: 5 height: 9 block 5: sig: 1 x: 232 y: 128 width: 3 height: 2 Detected 6: block 0: sig: 1 x: 266 y: 125 width: 6 height: 10 block 1: sig: 1 x: 139 y: 121 width: 15 height: 2 block 2: sig: 1 x: 199 y: 122 width: 7 height: 2 block 3: sig: 1 x: 165 y: 121 width: 9 height: 2 block 4: sig: 1 x: 233 y: 128 width: 5 height: 2 block 5: sig: 1 x: 86 y: 126 width: 7 height: 2 Detected 7: block 0: sig: 1 x: 266 y: 125 width: 6 height: 10 block 1: sig: 1 x: 140 y: 124 width: 14 height: 8 block 2: sig: 1 x: 199 y: 122 width: 7 height: 2 block 3: sig: 1 x: 165 y: 121 width: 5 height: 2 block 4: sig: 1 x: 200 y: 129 width: 10 height: 2 block 5: sig: 1 x: 166 y: 128 width: 10 height: 2 block 6: sig: 1 x: 234 y: 128 width: 7 height: 2



Figure 40a

Figure 40b


Figure 40c

Detected 6: block 0: sig: 1 x: 266 y: 125 width: 7 height: 11 block 1: sig: 1 x: 166 y: 123 width: 9 height: 2 block 2: sig: 1 x: 235 y: 129 width: 8 height: 2 block 3: sig: 1 x: 139 y: 122 width: 15 height: 2 block 4: sig: 1 x: 198 y: 129 width: 5 height: 3 block 5: sig: 1 x: 109 y: 121 width: 6 height: 2 Detected 5: block 0: sig: 1 x: 266 y: 125 width: 7 height: 11 block 1: sig: 1 x: 139 y: 122 width: 14 height: 2 block 2: sig: 1 x: 235 y: 123 width: 5 height: 2 block 3: sig: 1 x: 198 y: 129 width: 5 height: 3 block 4: sig: 1 x: 235 y: 129 width: 8 height: 2 Detected 5: block 0: sig: 1 x: 266 y: 125 width: 7 height: 11 block 1: sig: 1 x: 139 y: 122 width: 15 height: 2 block 2: sig: 1 x: 235 y: 126 width: 8 height: 8 block 3: sig: 1 x: 199 y: 129 width: 7 height: 2 block 4: sig: 1 x: 86 y: 121 width: 6 height: 2


25 mm Lens at 4 meter distance , light is 0.1 m from pins. WRO Bowling Round 2 Setup

Figure 41a

Figure 41b


Figure 41c

Detected 6: block 0: sig: 1 x: 114 y: 129 width: 12 height: 10 block 1: sig: 1 x: 206 y: 128 width: 7 height: 3 block 2: sig: 1 x: 60 y: 133 width: 9 height: 2 block 3: sig: 1 x: 248 y: 135 width: 9 height: 2 block 4: sig: 2 x: 157 y: 140 width: 19 height: 24 block 5: sig: 2 x: 158 y: 112 width: 10 height: 7 Detected 7: block 0: sig: 1 x: 113 y: 130 width: 12 height: 11 block 1: sig: 1 x: 61 y: 133 width: 10 height: 3 block 2: sig: 1 x: 206 y: 129 width: 7 height: 2 block 3: sig: 1 x: 249 y: 135 width: 9 height: 2 block 4: sig: 2 x: 158 y: 142 width: 20 height: 19 block 5: sig: 2 x: 158 y: 112 width: 10 height: 6 block 6: sig: 2 x: 149 y: 163 width: 3 height: 3 Detected 6: block 0: sig: 1 x: 114 y: 130 width: 10 height: 12 block 1: sig: 1 x: 61 y: 133 width: 10 height: 2 block 2: sig: 1 x: 206 y: 129 width: 7 height: 2 block 3: sig: 1 x: 247 y: 135 width: 6 height: 2 block 4: sig: 2 x: 158 y: 145 width: 21 height: 25 block 5: sig: 2 x: 158 y: 114 width: 10 height: 11



Figure 42a

Figure 42b


Figure 42c

Detected 5: block 0: sig: 1 x: 115 y: 129 width: 13 height: 9 block 1: sig: 1 x: 207 y: 128 width: 7 height: 2 block 2: sig: 1 x: 62 y: 134 width: 9 height: 2 block 3: sig: 2 x: 160 y: 157 width: 20 height: 42 block 4: sig: 2 x: 160 y: 117 width: 10 height: 16 Detected 4: block 0: sig: 1 x: 115 y: 129 width: 13 height: 9 block 1: sig: 1 x: 161 y: 127 width: 9 height: 2 block 2: sig: 2 x: 159 y: 157 width: 21 height: 42 block 3: sig: 2 x: 160 y: 117 width: 10 height: 16 Detected 6: block 0: sig: 1 x: 115 y: 129 width: 13 height: 9 block 1: sig: 1 x: 207 y: 128 width: 7 height: 2 block 2: sig: 1 x: 250 y: 135 width: 6 height: 2 block 3: sig: 1 x: 66 y: 133 width: 4 height: 2 block 4: sig: 2 x: 159 y: 156 width: 21 height: 44 block 5: sig: 2 x: 160 y: 117 width: 9 height: 15



Figure 43a

Figure 43b


Figure 43c

Detected 5: block 0: sig: 1 x: 118 y: 131 width: 13 height: 10 block 1: sig: 1 x: 253 y: 129 width: 6 height: 3 block 2: sig: 1 x: 211 y: 135 width: 6 height: 2 block 3: sig: 2 x: 163 y: 143 width: 20 height: 66 block 4: sig: 2 x: 197 y: 103 width: 3 height: 2 Detected 3: block 0: sig: 1 x: 120 y: 130 width: 10 height: 11 block 1: sig: 1 x: 252 y: 129 width: 7 height: 2 block 2: sig: 2 x: 162 y: 146 width: 21 height: 64 Detected 4: block 0: sig: 1 x: 119 y: 130 width: 12 height: 11 block 1: sig: 1 x: 252 y: 129 width: 5 height: 3 block 2: sig: 1 x: 211 y: 135 width: 9 height: 3 block 3: sig: 2 x: 163 y: 144 width: 20 height: 67


25 mm Lens at 4 meter distance , light is 2.6 m from pins. WRO Bowling Round 2 Setup (Extreme Case)

Figure 44a

Figure 44b


Figure 44c

Detected 6: block 0: sig: 1 x: 119 y: 130 width: 12 height: 10 block 1: sig: 1 x: 164 y: 127 width: 6 height: 2 block 2: sig: 1 x: 210 y: 135 width: 6 height: 2 block 3: sig: 1 x: 252 y: 136 width: 5 height: 2 block 4: sig: 2 x: 163 y: 156 width: 20 height: 44 block 5: sig: 2 x: 163 y: 117 width: 11 height: 16 Detected 5: block 0: sig: 1 x: 119 y: 130 width: 12 height: 10 block 1: sig: 1 x: 253 y: 136 width: 7 height: 2 block 2: sig: 1 x: 211 y: 135 width: 8 height: 2 block 3: sig: 1 x: 65 y: 127 width: 5 height: 2 block 4: sig: 2 x: 163 y: 144 width: 20 height: 67 Detected 6: block 0: sig: 1 x: 119 y: 130 width: 12 height: 11 block 1: sig: 1 x: 166 y: 127 width: 8 height: 3 block 2: sig: 1 x: 210 y: 135 width: 7 height: 2 block 3: sig: 1 x: 64 y: 127 width: 5 height: 2 block 4: sig: 2 x: 163 y: 156 width: 20 height: 44 block 5: sig: 2 x: 163 y: 118 width: 11 height: 14


6.1 mm lens at 4 m away, light is 0.1 m from pins. WRO Bowling Round 2 Setup

Figure 45a

Figure 45b


Figure 45c

Detected 1: block 0: sig: 2 x: 158 y: 120 width: 3 height: 15 Detected 1: block 0: sig: 2 x: 158 y: 120 width: 3 height: 15 Detected 1: block 0: sig: 2 x: 158 y: 121 width: 3 height: 16 Detected 1: block 0: sig: 2 x: 158 y: 120 width: 3 height: 15 Detected 1: block 0: sig: 2 x: 158 y: 121 width: 3 height: 16



Figure 46a

Figure 46b


Figure 46c

Detected 1: block 0: sig: 2 x: 162 y: 124 width: 4 height: 9 Detected 1: block 0: sig: 2 x: 161 y: 124 width: 3 height: 6 Detected 2: block 0: sig: 1 x: 53 y: 87 width: 2 height: 2 block 1: sig: 2 x: 160 y: 124 width: 3 height: 9 Detected 2: block 0: sig: 1 x: 53 y: 87 width: 2 height: 2 block 1: sig: 2 x: 161 y: 125 width: 4 height: 7



Figure 47a

Figure 47b


Figure 47c Detected 5: block 0: sig: 1 x: 19 y: 83 width: 2 height: 4 block 1: sig: 1 x: 15 y: 119 width: 2 height: 2 block 2: sig: 1 x: 14 y: 129 width: 2 height: 2 block 3: sig: 1 x: 21 y: 71 width: 2 height: 2 block 4: sig: 2 x: 161 y: 121 width: 5 height: 15 Detected 2: block 0: sig: 2 x: 162 y: 121 width: 4 height: 16 block 1: sig: 2 x: 20 y: 114 width: 2 height: 2 Detected 3: block 0: sig: 1 x: 18 y: 88 width: 2 height: 10 block 1: sig: 1 x: 15 y: 118 width: 2 height: 2 block 2: sig: 2 x: 161 y: 121 width: 3 height: 16 Detected 3: block 0: sig: 1 x: 315 y: 123 width: 9 height: 25 block 1: sig: 1 x: 16 y: 104 width: 2 height: 11 block 2: sig: 2 x: 161 y: 121 width: 3 height: 16



Figure 48a

Figure 48b


Figure 48c

Detected 1: block 0: sig: 2 x: 162 y: 125 width: 4 height: 3 Detected 1: block 0: sig: 2 x: 161 y: 127 width: 3 height: 3 Detected 1: block 0: sig: 2 x: 161 y: 124 width: 2 height: 2 Detected 1: block 0: sig: 2 x: 161 y: 126 width: 3 height: 7 Detected 1: block 0: sig: 2 x: 161 y: 125 width: 2 height: 3 Detected 1: block 0: sig: 2 x: 163 y: 115 width: 2 height: 2 Detected 1: block 0: sig: 2 x: 162 y: 125 width: 4 height: 5 Detected 1: block 0: sig: 2 x: 163 y: 126 width: 4 height: 6 Detected 1: block 0: sig: 2 x: 163 y: 122 width: 4 height: 2 Detected 1: block 0: sig: 2 x: 161 y: 127 width: 3 height: 4 Detected 1: block 0: sig: 2 x: 161 y: 122 width: 3 height: 3 Detected 1:


Observations on Pixy detection of pins with varied lighting conditions: 1. Under the experimental conditions, the different lighting conditions had little to no effect on the 25 mm lens' ability to detect small features 2. The 6.1 mm lens has trouble detecting the objects due to the different lighting conditions - it sees nothing but the green pin


4. Conclusion From the experiments conducted, the following conclusions can be drawn: 1. The size of each object is the dominant factor in determining how easily it is detected by each lens on the Pixy CMUcam5. 2. The focal length of each lens has a significant effect on object detection. 3. Small lenses can detect small features only up to a very limited distance, while the larger lenses can detect small features at long ranges (up to 4 meters in this study). 4. Within the testing conditions in this study, to the larger lenses, it seems that varied lighting has little to no effect on their ability to detect small features. 5. For the pins used in the WRO challenge, the small red stripes can be detected with appropriate range control by the larger lenses, and the green pins can be easily seen 6. The environment should be carefully controlled to prevent the Pixy cam from picking up outside noise and interference References: 1. http://cmucam.org/projects/cmucam5/wiki 2. http://www.eagleoptics.com/articles/technical-guide/field-of-view 3. http://www.wro2015.org/rules/BowlingGameRules_v0302.pdf

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