Harvey Mudd College
Computer Science 154 - Robotics
Assignment G

Send Ran to Spago -- the sequel

Introduction

The first time

The sequel

Part 1 -- Setup

• Controlling the gripper



• Vision on the desktop and laptop PCs

Part 2 -- Visual Tracking based on color

• Getting the pixels



• Defining a color



• The update step

Part 3 -- Visual servoing

• Definition



• Immediate vision-based control

Part 4 -- Improving performance

• Better visual estimates



• Smoother control