An Experimental Study on Pixy CMUcam5 Vision Sensor

Transcription

1 LTU-ARISE Lawrence Technological University / Autonomous Robotics Institute for Supporting Education - Technical Memo ARISE An Experimental Study on Pixy CMUcam5 Vision Sensor Charles Liu* Salem High School Joy Rd Canton, MI, Christopher Geng* Northville High School Six Mile Rd, Northville, MI 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 Test setup Experimental objects 4 3. Experiment results and analysis 3.1 Regular objects Irregular shapes and features Bowling pins Different lighting conditions Conclusion 96 References 96 (*) 2015 summer research intern at Lawrence Technological University

2 LTU-ARISE 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

3 LTU-ARISE 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.

4 LTU-ARISE 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. 2.1 mm 6.1 mm 12 mm 25 mm 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.

5 LTU-ARISE Figure 3a Figure 3b Figure 3c

6 LTU-ARISE Experiment results and analysis 3.1 Regular objects (4 meters distance) 2.1 mm lens, Color Calibration Figure 4a Figure 4b

7 LTU-ARISE 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

8 LTU-ARISE mm lens Color Calibration Figure 5a Figure 5b

9 LTU-ARISE Data output in Arduino serial monitor: Figure 5c ********************************************************* 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:

10 LTU-ARISE mm lens Color Calibration Figure 6a Figure 6b

11 LTU-ARISE 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

12 LTU-ARISE mm lens Color Calibration Figure 7a Figure 7b

13 LTU-ARISE 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 Figure 7c

14 LTU-ARISE Comparison of center coordinates, width, and height for different signatures and lenses: X Position mm lens 12mm lens 25mm lens 2.1mm lens Signature Number Figure 8a Y Position mm lens 12mm lens 25mm lens 2.1mm lens Signature Number Figure 8b

15 LTU-ARISE Width mm lens 12mm lens 25mm lens 2.1mm lens Signature Number Figure 8c Height mm lens 12mm lens 25mm lens 2.1mm lens Signature Number Figure 8d

16 LTU-ARISE 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

17 LTU-ARISE Irregular shapes and features 2.1 mm Lens, 0.5 m Distance Figure 9a Figure 9b

18 LTU-ARISE 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

19 LTU-ARISE mm Lens, 1 m Distance Figure 10 Figure 10b

20 LTU-ARISE 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

21 LTU-ARISE mm lens, 2.5 m Distance Figure 11a Figure 11b

22 LTU-ARISE 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

23 LTU-ARISE mm Lens, 3 m Distance Figure 12a Figure 12b

24 LTU-ARISE 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

25 LTU-ARISE mm Lens, 4 m distance Figure 13a Figure 13b

26 LTU-ARISE Figure 13c Data output in Arduino serial monitor: ********************************************************* No values Summary table

27 LTU-ARISE mm lens, 0.5 m distance Figure 14a Figure 14b

28 LTU-ARISE 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:

29 LTU-ARISE mm lens, 1 m distance Figure 15a Figure 15b

30 LTU-ARISE 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: mm lens, 2.5 m distance

31 LTU-ARISE Figure 16a Figure 16b

32 LTU-ARISE 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

33 LTU-ARISE mm lens, 3 m distance Figure 17a Figure 17b

34 LTU-ARISE 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

35 LTU-ARISE mm lens, 4 m distance Figure 18a Figure 18b

36 LTU-ARISE 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

37 LTU-ARISE mm lens, 0.5 m distance Figure 19a Figure 19b

38 LTU-ARISE 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

39 LTU-ARISE mm lens, 1 m distance Figure 20a Figure 20b

40 LTU-ARISE 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

41 LTU-ARISE mm lens, 2.5 m distance Figure 21a Figure 21b

42 LTU-ARISE 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

43 LTU-ARISE mm lens, 3 m distance Figure 22a Figure 22b

44 LTU-ARISE 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

45 LTU-ARISE mm lens, 4 m distance Figure 23a Figure 23b

46 LTU-ARISE 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 23c

47 LTU-ARISE mm lens, 0.5 m distance Figure 24a Figure 24b

48 LTU-ARISE 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

49 LTU-ARISE mm lens, 1 m distance Figure 25a Figure 25b

50 LTU-ARISE 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

51 LTU-ARISE mm lens, 2.5 m distance Figure 26a Figure 26b

52 LTU-ARISE 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

53 LTU-ARISE mm lens, 3 m distance Figure 27a Figure 27b

54 LTU-ARISE 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

55 LTU-ARISE mm lens, 4 m distance Figure 28a Figure 28b

56 LTU-ARISE 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

57 LTU-ARISE 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)

58 LTU-ARISE Bowling pins Actual WRO 2015 Bowling Round 1 Setup (3.6 meters away, 25 mm Camera) Figure 29a Figure 29b

59 LTU-ARISE 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

60 LTU-ARISE Next we will try detecting the pins from a different location, different camera angle. Different Camera Angle Figure 30a Figure 30b

61 LTU-ARISE 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

62 LTU-ARISE 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

63 LTU-ARISE At different camera angles Figure 32a Figure 32b

64 LTU-ARISE 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

65 LTU-ARISE And now for a Different Green Pin Position Figure 33a Figure 33b

66 LTU-ARISE 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

67 LTU-ARISE 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

68 LTU-ARISE Different lighting conditions 25 mm lens at 4 meter distance, light is 0.5 m from objects Figure 34a Figure 34b

69 LTU-ARISE 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

70 LTU-ARISE mm lens at 4 meter distance, light is 1 m from objects Figure 35a Figure 35b

71 LTU-ARISE 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

72 LTU-ARISE mm lens at 4 meter distance, light is 1.5 m from objects Figure 36a Figure 36b

73 LTU-ARISE 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

74 LTU-ARISE mm lens at 4 meter distance, light is 0.5 m from objects. WRO Bowling Round 1 Setup Figure 37a Figure 37b

75 LTU-ARISE 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

76 LTU-ARISE mm lens at 4 meter distance, light is 0.1 m from objects. WRO Bowling Round 1 Setup Figure 38a Figure 38b

77 LTU-ARISE 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

78 LTU-ARISE mm lens at 4 meter distance, light is 0.6 m from objects. WRO Bowling Round 1 Setup Figure 39a Figure 39b

79 LTU-ARISE 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

80 LTU-ARISE mm lens at 4 meter distance, light is 1.1 m from objects. WRO Bowling Round 1 Setup Figure 40a Figure 40b

81 LTU-ARISE 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

82 LTU-ARISE mm Lens at 4 meter distance, light is 0.1 m from pins. WRO Bowling Round 2 Setup Figure 41a Figure 41b

83 LTU-ARISE 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

84 LTU-ARISE mm Lens at 4 meter distance, light is 0.6 m from pins. WRO Bowling Round 2 Setup Figure 42a Figure 42b

85 LTU-ARISE 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 42c

86 LTU-ARISE mm Lens at 4 meter distance, light is 1.1 m from pins. WRO Bowling Round 2 Setup Figure 43a Figure 43b

87 LTU-ARISE 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 Figure 43c

88 LTU-ARISE mm Lens at 4 meter distance, light is 2.6 m from pins. WRO Bowling Round 2 Setup (Extreme Case) Figure 44a Figure 44b

89 LTU-ARISE 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 Figure 44c

90 LTU-ARISE mm lens at 4 m away, light is 0.1 m from pins. WRO Bowling Round 2 Setup Figure 45a Figure 45b

91 LTU-ARISE 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 45c

92 LTU-ARISE mm lens at 4 m away, light is 0.6 m from pins. WRO Bowling Round 2 Setup Figure 46a Figure 46b

93 LTU-ARISE 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

94 LTU-ARISE mm lens at 4 m away, light is 1.1 m from pins. WRO Bowling Round 2 Setup Figure 47a Figure 47b

95 LTU-ARISE 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 47c

96 LTU-ARISE mm lens at 4 m away, light is 1.1 m from pins. WRO Bowling Round 2 Setup Figure 48a Figure 48b

97 LTU-ARISE 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:

98 LTU-ARISE 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

99 LTU-ARISE 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: