M A P P I N G   C O L O R S   

with Turtlebot

CONTEXT

WORKFLOW

HARDWARE

SOFTWARE

GMAPPING & NAVIGATION  

DETECTING

To detect the colors, the OpenCV library is used as a postprocess of the captured videos. This is done in python where certain bright color ranges are recognised by the code and being masked. From these masks a box is created around the contours. Here is a simplified explanation of the code:

– Rescale and order frames

– Lower and upper color ranges
– HSV (Hue, Saturation and Value)

– Red, Yellow, Green and Blue

– Read video

Loop:

– Define video and convert to HSV

– Masks for the 4 colors

– Define contours

– Contour area minimum size

– Create a box around

– Add type tool text

– Rescale and stack frames

HSV

The code detecting a blue (M10) spanner

On the left: The mask of the yellow colour detection

On the right:The code detecting a yellow (M8) spanner

Masks:

To detect the four different spanners, the masks are created. These are separate to see what colour ranges are good to detect the certain spanners.

FUTURE OPPORTUNITIES

Human Machine Interaction in Construction Site

Team Members: Beril Serbes + Grace Boyle + ?pek Attaro?lu + Vincent Verster