Colour detection and tracking

Part 6 of my Youtube series was posted last weekend and I have been working on tracking coloured objects.

 

As mentioned in my last post, I decided to develop the tracking function using the detection of a coloured ball instead of faces. To detect a certain colour I converted an image from the webcam to HSV colours, and then applied a threshold to isolate the coloured object of interest. Using contours I was able to detect the position of the coloured ball in the image. I could then use the x and y screen coordinates of the detected ball to calculate x and y error values. Multiplying these errors by a gain value (currently 0.04) and adding each value to the current yaw and pitch servo positions, allowed the head to move to track the object. I have been experimenting with different gain values but this seems to give a reasonable result at the moment.

Using the same code, but with the threshold values changed, I was also able to get the head to track the end of the arm. Although there is always some room for improvement, this ticks another item off of the wish list.

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