Pathfinding and positioning in a labyrinth game using a wide-angle camera
(2015)Department of Automatic Control
- Abstract
- Alten AB has a technology demonstator in the form of a motorized and camera equipped large scale labyrinth game. The ball position is controlled by a ABB industrial PLC connected with Android tablets for user interface and a camera as a sensor for the ball position. This thesis demonstrates the ability to place a wide angle camera inside the cabinet, correcting the lens distortion caused by the wide angle lens and detect the ball with the use of a circular Hough transform. A path is also generated from the ball position to any position of the maze by capturing an image from the camera, generating a map for subsequent pathfinding, using an improvement of the Dijkstra’s pathfinding algorithm named Theta*. It further demonstrates the... (More)
- Alten AB has a technology demonstator in the form of a motorized and camera equipped large scale labyrinth game. The ball position is controlled by a ABB industrial PLC connected with Android tablets for user interface and a camera as a sensor for the ball position. This thesis demonstrates the ability to place a wide angle camera inside the cabinet, correcting the lens distortion caused by the wide angle lens and detect the ball with the use of a circular Hough transform. A path is also generated from the ball position to any position of the maze by capturing an image from the camera, generating a map for subsequent pathfinding, using an improvement of the Dijkstra’s pathfinding algorithm named Theta*. It further demonstrates the feasibility of using the computing power of the camera for both pathfinding and ball positioning. (Less)
Please use this url to cite or link to this publication:
http://lup.lub.lu.se/student-papers/record/7866384
- author
- Olsson, Stefan
- supervisor
- organization
- year
- 2015
- type
- H3 - Professional qualifications (4 Years - )
- subject
- ISSN
- 0280-5316
- other publication id
- ISRN LUTFD2/TFRT--5964--SE
- language
- English
- id
- 7866384
- date added to LUP
- 2015-09-16 13:12:17
- date last changed
- 2015-09-16 13:12:17
@misc{7866384,
abstract = {{Alten AB has a technology demonstator in the form of a motorized and camera equipped large scale labyrinth game. The ball position is controlled by a ABB industrial PLC connected with Android tablets for user interface and a camera as a sensor for the ball position. This thesis demonstrates the ability to place a wide angle camera inside the cabinet, correcting the lens distortion caused by the wide angle lens and detect the ball with the use of a circular Hough transform. A path is also generated from the ball position to any position of the maze by capturing an image from the camera, generating a map for subsequent pathfinding, using an improvement of the Dijkstra’s pathfinding algorithm named Theta*. It further demonstrates the feasibility of using the computing power of the camera for both pathfinding and ball positioning.}},
author = {{Olsson, Stefan}},
issn = {{0280-5316}},
language = {{eng}},
note = {{Student Paper}},
title = {{Pathfinding and positioning in a labyrinth game using a wide-angle camera}},
year = {{2015}},
}