Arduino.Computer.Vision.Programming.pdf

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Cover

Credits

About the Authors

About the Reviewers

www.PacktPub.com

Table of Contents

Preface

Chapter 1: General Overview of Computer Vision Systems

Introducing computer vision systems

Approaching computer vision problems

Data acquisition

Preprocessing

Feature extraction by image processing

Post-processing and post-filtering

Recognition or detection

Acting in the real world

Connecting the pieces

Summary

Chapter 2: Fundamentals and Installation of OpenCV

Fundamentals of OpenCV

The installation of OpenCV

Installing OpenCV on Linux

Installing and configuring packages

Using OpenCV with Eclipse CDT

Installing OpenCV on Mac OS

Getting command-line tools

Installing HomeBrew

Using OpenCV in Xcode

Installing OpenCV on Windows

Installing MS Visual Studio 2013

OpenCV on iOS

OpenCV on Android

Installing OpenCV4Android

Eclipse integration

Running samples

Summary

Chapter 3: Data Acquisition with OpenCV and Arduino

Image and video acquisition

Camera selection

Resolution

Color capabilities

Frame rate

2D or 3D

Communication interface

Image acquisition

Reading a static image

Taking a snapshot from a webcam

Getting a video stream from the webcam

Interaction with Kinect

Integration of Kinect with OpenCV

Sensor data acquisition

Setting up an Arduino environment

Fundamentals of sensors

Sensor types

Sampling theorem

Dealing with noise

Reading data from the temperature sensor

Summary

Chapter 4: Filtering Data with OpenCV

Getting started with filtering

2D convolution

Spatial domain filtering

Smoothing

Sharpening

Color conversions

Grayscale

Binary

Constant thresholding

Adaptive thresholding

Morphological filters

Erosion and dilation

Erosion

Dilation

Opening and closing

Closing

Opening

Gradients and edge detection

The Canny edge detector

Laplacian of Gaussian filter

Sobel

Custom filtering

Histogram equalization

Chapter project

Summary

Chapter 5: Processing Vision Data with OpenCV

Extracting features

Using basic statistics

Using color features

Using template matching features

Using contours

Using the convex hull

Using moments

Using the Hough transform

Using corners

Using SIFT

Using SURF

Using ORB

Using blob analysis

Summary

Chapter 6: Recognition with OpenCV

Building applications which can think

Template matching

Feature matching

FLANN-based matching

Using cascade classifiers

Using support vector machines

Summary

Chapter 7: Communicating with Arduino Using OpenCV

Communicating with Arduino

Wired communications

Communicating via USB

Communicating via the serial port

Communicating via Ethernet

Wireless communications

Communicating via Bluetooth Low Energy

Communicating via ZigBee

Communicating via Wi-Fi

Communicating via radio frequency

Communicating with Java

Communicating with C++

Summary

Chapter 8: Acting in the Real World with Arduino

Interfacing electric motors

Driving DC motors

Driving stepper motors

Driving servo motors

Using display screens

Using LCD screens

Using TFT screens

Summary

Chapter 9: Building a "Click-to-Go" Robot

System overview

Building a robot

Building mechanics

Building the electronics

Robot/receiver and transmitter drawings

Building the robot controller and communications

Building the vision application

Building a vision controller and communications

Summary

Index

Arduino Computer Vision Programming Design and develop real-world computer vision applications with the powerful combination of OpenCV and Arduino Özen Özkaya Giray Yıllıkçı BIRMINGHAM - MUMBAI [ FM-1 ]

Arduino Computer Vision Programming Copyright © 2015 Packt Publishing All rights reserved. No part of this book may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, without the prior written permission of the publisher, except in the case of brief quotations embedded in critical articles or reviews. Every effort has been made in the preparation of this book to ensure the accuracy of the information presented. However, the information contained in this book is sold without warranty, either express or implied. Neither the authors, nor Packt Publishing, and its dealers and distributors will be held liable for any damages caused or alleged to be caused directly or indirectly by this book. Packt Publishing has endeavored to provide trademark information about all of the companies and products mentioned in this book by the appropriate use of capitals. However, Packt Publishing cannot guarantee the accuracy of this information. First published: August 2015 Production reference: 1250815 Published by Packt Publishing Ltd. Livery Place 35 Livery Street Birmingham B3 2PB, UK. ISBN 978-1-78355-262-7 www.packtpub.com [ FM-2 ]

Credits Authors Özen Özkaya Giray Yıllıkçı Reviewers Avirup Basu Roberto Gallea Seyed Mohsen Mousavi Surya Penmetsa Randy Schur Commissioning Editor Priya Singh Acquisition Editor Neha Nagwekar Content Development Editor Shweta Pant Technical Editor Narsimha Pai Copy Editors Dipti Mankame Kevin McGowan Project Coordinator Sanjeet Rao Proofreader Safis Editing Indexer Priya Sane Graphics Sheetal Aute Production Coordinator Shantanu N. Zagade Cover Work Shantanu N. Zagade [ FM-3 ]

About the Authors Özen Özkaya is an embedded systems engineer who has been involved in the design, development, and verification of various applications of computer vision and embedded systems for more than 6 years. He strongly believes in the power of sharing knowledge and continuously extending the computer vision. After earning 6 years of experience in the profession, he is now working for Siemens as a senior development engineer, where he is involved in the research and development of industrial control devices and industrial communication processors. He also contributes to software quality assurance projects in Siemens. He has a total of eight patent applications up to now, and all of his applications are still in progress. He completed a bachelor's program in electronics engineering from İstanbul Technical University (ITU) in 3 years with high honor certificates. He holds a master's degree in electronics engineering from ITU and is currently pursuing a PhD in electronics engineering there. During his academic studies, he worked in various laboratories, such as the medical system design lab, control and avionics lab, robotics lab, pattern recognition and signal processing lab, industrial automation lab, and finally, the embedded systems lab. In addition to his academic studies, he is now a mentor in the embedded systems laboratory at ITU. [ FM-4 ]

Özen can be reached directly via e-mail at ozenozkaya@gmail.com or contact@ozenozkaya.com. If you want to learn more about him, visit his website at http://www.ozenozkaya.com. First of all, I would like to thank my parents, Kıyas and Ferah, for their endless effort and perseverance in bringing me up to this level. My academic advisor, Assoc. Prof. Dr. S. Berna Örs Yalcin, always supported me and helped me achieve many things, so I would like to thank her. I would also like to thank all my friends; the list is too long to mention here. Above all, a huge special thanks to Nilay Tüfek, who supported me a lot in the writing of this book. She also sincerely encouraged me to accept this challenge and overcome it. Giray Yıllıkçı is focuses on embedded systems, computer vision, and robotics. He has been contributing to these areas in both the industrial and academic fields. He enjoys sharing his knowledge and experiences of the field with juniors. He believes that sharing information is the true way of proceeding in life. Giray is currently working as a senior research engineer at Design Lab, Koç University, where he is coordinating the technical process of projects. He is responsible for designing industrial-level proof of concepts for studies at Design Lab. In addition, he manages technical research engineers. His six patent applications are in progress. He has a bachelor's degree in physics from Koç University. Now, he is currently working on his MS thesis for a graduation program in satellite communication and remote sensing at Istanbul Technical University. [ FM-5 ]

More about him can be found at his website http://www.girayyillikci.com. He can be contacted via gyillikci@gmail.com or gyillikci@ku.edu.tr. First, I would like to express my gratitude to Özen Özkaya for enabling me to be a part of this book. I would like to thank the Packt crew who provided support, and offered comments and assistance. At this point, I would like to thank Seyed Mousavi for his valuable reviews and Shweta Pant for successful content development management. Thank you to Cetin Seren for his guidance in my career. His wise advice and fruitful discussions have led me to achieve the best in my field. I would like to thank Süreyya Ciliv for providing us with an intellectual and inspiring work environment at Turkcell Technology Applied Research Center, where we received a lot of inspiring know-how. Thanks to Tugce Pakakar and her friends for helping me enjoy the process of writing this book. Above all, I am thankful to my mother, father, and brother, who supported, encouraged, and inspired me throughout my life. I would like to express my most sincere gratitude to them with these lines. [ FM-6 ]

About the Reviewers Avirup Basu is currently a student pursuing a BTech in electronics and communication engineering from the Siliguri Institute of Technology. Besides academics, he is actively involved in the fields of robotics, IoT, and mobile application development. Since college, he has been involved with Microsoft as a Microsoft Student Partner and has organized 3-4 seminars and workshops on various Microsoft technologies, mainly on Windows Phone and Windows app development. Being enthusiastic about robotics and Microsoft technologies, he has developed several robots, both autonomous and manual, and has developed a couple of manual robot controllers; some of these are the "Universal robot controller" for Windows PC and "Mark 1 Pilot" for Windows Phone. He is also into computer vision and has worked on detection of wild animals. A publication of his is Automated Elephant Tracker in the journal known as the International journal of Electronics and Communication Engineering and Technology (IJECET) under International Association for Engineering and Management Education, which includes his work on robotics and computer vision. His website at http://www.avirupbasu.com holds some of his work, and you may get in touch with him there. Being a part-time blogger, he blogs about the topics he is interested in. Currently, he is working on autonomous robot control using SONAR and GPS. He dreams of carrying out research and development in his areas of interest. [ FM-7 ]

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