The main goal of this project is to gather information about possibilities of using IPAQ in image processing algorithms
Abstract
The main goal of this project is to gather information about possibilities of using IPAQ in image processing algorithms, check how complicated algorithms can we run on the IPAQ and look for possible solutions of integrating Lego vehicle and Pocket PC.
The project was devised in THE VISION AND IMAGE SCIENCE LABORATORY (VISL). It implements algorithm that was done before [project 2003w01] platform. It is realized using a Lego vehicle and movement controller, equipped with a video camera and IPAQ. The video stream is transmitted to IPAQ using device named “FlyJacket”, which in turn activates the analysis and recognition program on a captured frame and tries to recognize traffic signs on the image.
Main goals that were accomplished:
Implementing image processing algorithm on Pocket PC
Detecting stationary objects – traffic signs – in a non-artificial environment, while the camera is in motion. This is done using well known, low complexity and fast computer vision techniques, such as: color detection, region growing and shape recognition. Thus, once the frame is analyzed and a traffic sign has been detected, corresponding commands are transmitted to direct the consequent movement of the Lego car. This process must be accomplished at real-time movement speed.
This process has been programmed using Microsoft embedded Visual C++ 3.0.
Integrating IPAQ with camera
The integration was done using FlyJacket device – device that connects to IPAQ and to camera on the other side and is responsible for picture sampling.
Research of potential using of IPAQ in other algorithms
All the project dealing with Lego vehicles were done using desktop PC, this restriction prevents us from using Lego vehicles at open spaces therefore we cannot perform experiments outside. This project is first try to bring solution of this problem and equip our Lego vehicle with Mobile Device such as IPAQ in order to perform all the calculations and image processing onboard.
Lego Vehicle
1.RCX Unit – small programmable unit by Lego based on the H8 by Hitachi, provides serial I/O, A/D, 16k ROM, 32K RAM and timers. This unit can be loaded with programs up to 6k. It produces voltage to the two engines that control the vehicle according to the value of an inner variable. While running the program the value of the variable can be controlled via the infra red tower.
2.Video Camera and Transmitter – records and transmits the video stream as captured by the lens to a receiver, and then via USB Instant Video onto the computer. The wireless transmission enables free and independent movement of the vehicle.
3.Batteries – two batteries: one supplying power to RCX and video camera, value: 7.2V, the other sustaining the transmitter, value: 10.8V.
IPAQ
The majority of this project is implemented and run on a Pocket PC with FlyJacket. Mainly programmed using embedded Visual C++ 3.0 containing MFC classes.
Conclusions
- IPAQ (at least the model we used) is fast and strong machine for running simple, basis image processing algorithms
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The frame rate we worked with was about 2-5 frames per second depending on images that were processed. That frame rate is enough for simple algorithms
Acknowledgment
We would like to thank our project supervisor Johanan Erez for his help and guidance throughout this work.
We are also grateful to the lab stuff and Tzahi Nisim from computer networks lab for his help with eVC++ issues.