Optical tracking for the ROBOTable project : A dissertation submitted in partial fulfilment of the requirements for the Degree of Bachelor of Applied Computing with Honours at Lincoln University

Abstract

The ROBOTable is a new approach to facilitate distance learning of engineering concepts for schoolchildren being developed by the Centre for Engineering Education Outreach at Tufts University, Boston. The table has a computer image back-projected onto it from underneath. Students will create and test Lego™ robots on the table surface and compete with other children at similar tables in remote locations.

An optical tracking system is implemented to track a robot on the table surface and provide information about its location and orientation to a remote table. The system identifies markers placed on top of the robots. Markers could be identified at rates up to 15 Hz depending on the image complexity and lighting conditions. A marker's position is accurate to within 1.4% of the size of the table surface. For convenient development of applications; the tracking system was integrated in to Robolab™.