Скачать или смотреть Android OpenCV BugDroid Tracking

The Android app uses OpenCV to recognize and track a specified color object. The Nexus S device communicates with the IOIO board via Bluetooth to move the pan/tilt.

Having the servos move smoothly was a challenge since we can only get 16fps using OpenCV at a minimum resolution of 176x144. At that refresh rate it was not possible to track the object using the camera thread so we decided to use the IOIO thread instead to call the PID every 10ms. That means that the COG is calculated every 60ms at the end of each frame so there will be 6 PID cycles for each frame to update the servos position/pulse in a smooth way. Also, moving smoothly will improve the quality of the image captured (less blur on the image).

It consists of the following components:

An android Nexus S smartphone
An IOIO-OTG board
An Arduino proto shield
An USB Micro Bluetooth Adapter
A Lynx B - pan/tilt kit
Two(2) Hitec 422 servos