Light is an important factor when dealing with vision. While testing tracking different objects lighting became an obstacle. The NXTCam is to be used under florescent light, any other lights might distract the NXTCam which leads to it losing the object. Testing proved that using a light source on the leader robot in a dark environment provides the camera with an object that is relatively hard to lose. Also, it increases the range of the NXT camera to allow the follower robot to find the leader from farther distances.
Positioning the light on the NXT was a bit challenging. The light has to be right above the straight line that comes out of the NXTCam center. It can be at the same level because it affects the cameras ability to track the object effectively, it’s like someone to shine a light straight in your eyes. So I had to build a frame to hold the light source. Building the frame was a bit hard due to the fact that I had to do it with Lego pieces and it was hard to find the perfect spot for the light and the angle so it won’t disturb the NXTCam.
The positioning of the camera was the bottom of the NXT looking straight ahead. I changed the position of the NXTCam to be on top looking down. The new position was better than the old one. Testing showed that there are less chances of the NXT losing the object when the camera was put in the new position. On the other hand, the old position had better range.
Time: 6 hrs.
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