Visual Servoing at UNH, Day 1

Today we are at UNH to work on some visual servoing code that Justin wrote. The goal is to be able to follow a vertical pipe, controlling yaw and position based on image processing.


Mike has mounted the camera on the bottom of Odyssey, facing forward so that we will be able to track an object in front of the vehicle.


Early on, we had to re-adjust the aperature on the camera. We had made it as small as possible to increase our depth of field, but it was just too dark in the facility to see anything on that setting. So, we opened up the aperature and double checked the focus.


With the vehicle on an ethernet tether, we were able to use coriander to tweak the settings of the camera once it was underwater. This program makes the tuning stage go very quickly!