Colored Object Detection

Even though we do not yet have a drivable robot, it is never too early to begin programming the basic controls of the robot. One of our major design requirements involves our rover assisting the operator in picking out objects of interest. In the case of our rover, these objects of interest will be rocks of various colors. In order to accomplish this task, we are using a C# wrapper for the popular OpenCV library. In the case of rock detection we look at the RGB values of each pixel in the image, and run a simple color filter to find pixels of a certain color. Pixels of the same color in similar locations can then be grouped together as “blobs”. The centrode of the blob can then be found, and overlayed over the original image to alert the user when a rock of interest is found.