מצגת - מערכת רובוטית לפתרון קובייה הונגרית עי עיבוד תמונה - בנטל תבור

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    08-Jan-2017

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<p> PowerPoint</p> <p>Image Processing-based RoboticRubiks Cube SolverBental Tavor Advisor: Dr. Eyal KatzElectrical Engineering</p> <p>The project deals with a robotic system prototype which solves a standard Rubik's Cube. The system includes and integrates :Mechanical design and building of the robotic armsElectrical circuit Des., Build.Algorithms Dev.Software Des., impl.</p> <p>AbstractThis projects goal was to design and create a robotic system which physically solves a standard 3x3x3 Rubiks cube. The cubes state is automatically detected by a camera and computer vision software. A solution is found using either of three algorithms: the Layer, Fridrich, or the Two-phase algorithm. The robotic arms are then programmed to execute the desired moves.</p> <p>Cube Solving Algorithms - stepsLayer Method</p> <p>CrossFridrich Method</p> <p>First Two LayersOrientation of Last LayerPermutation of Last LayerFirst LayerFirst Two LayersCross Last LayerDoneLast Layer corner fix</p> <p>Scrambled Cube</p> <p>Mechanical DesignPrototype</p> <p>Cube Face Detection Example</p> <p>Input RGB imageHSV image</p> <p>convert the RGB image into HSV image and get the V vales </p> <p>binary imageRetrieves contours using the Suzuki algorithm. The contours are a useful tool for shape analysis and object detection.The contours were filtered by there Area and Aspect Ratiobinary imageSort the contours coordinate from top to bottom and display there index RGB image</p> <p>Identification of face colorsHSV color space separates image intensity, fromthe color information.</p> <p>HSV colors range measurement tool for a close room light conditionsGreen, Blue and white measurement example</p> <p>ApplicationApply adaptive threshold to help enhance the black edges separating the faces on the cube</p> <p>Face colors detected</p> <p>Rubiks Cube initial Pattern RecognitionSolve with Layer MethodEasily understood by a human being Solve with Fridrich MethodFast method for Computer</p> <p>Simulation of 3D cube that rotate and show the Rotation with guidelines</p> <p>Color Space Parameters calibration tool</p> <p>Manual motor control tool for engine check option</p> <p>Close Room fluorescent light</p> <p>Afeka college yard daylight</p> <p>HSV Graph Results</p> <p>Part of this work has been presented at IMVC 2016, the 7th Israeli Machine Vision Conference, March 16-17, 2016, Tel-Aviv, Israel</p>