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Robomagellan Cone Searching/Tracking

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Uploaded on Apr 15, 2011

Demonstration of the cone search/track algorithm. First the camera pans over the entire field of view in high resolution mode, then returns to the field of view with the most pixels that pass the threshold, then enters a feedback loop to center in on the cone. It then returns the number of pixels that pass the threshold in the final frame, at which point the main processor can decide whether to enter tracking mode, or continue searching. In track mode, the camera enters low resolution mode (for faster updates) and maintains a feedback loop to stay centered on the cone.

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