HaViMo2.0

 

In HaViMo2 several features such as frame rate are improved. In addition to the region growing algorithm available in prior versions, a new algorithm is implemented called Gridding. The algorithm is a suitable preprocessing step for many other applications such as object recognition and self localization. The compatibility area of the module is also extended to more software and hardware platforms. In addition to ROBOTIS and RoboBuilder controllers, HaViMo2 is compatible with any microcontroller platform.  These platforms can also communicate with the module using either half or full-duplex serial protocols.

Features

  • Integrated Color CMOS Camera
    • Frame Resolution: 160*120 Pixels
    • Color Depth: 12 bits YCrCb
    • Frame Rate: 19 Fps
    • Full Access to all CMOS Camera registers
    • Saving values in EEPROM
      • no need to reconfigure after power on
    • Auto / Manual Exposure, Gain and White balance
    • Adjustable Hue/Saturation
    • Color-Based Image Processing
  • Integrated Color Look-up Table
    •  Saved in FLASH
      • No need to recalibrate after power on
    •  Up to 256 Objects can be dened
    •  3D viewing and editing tools
    •  Real-time LUT overlay on the Camera Image
  • On-line Region-growing
    •  Detection of up to 15 contiguous Regions per Frame
    •  Reporting Color, CoM, Number of Pixels and Bounding box for each region
    •  Adjustable Noise / small Region ltering
  •  On-line Griding
    •  Reduces the Resolution of the Image to 32*24
    •  Minimum Loss of Information using Object Priority
    •  Reports Color and Number of Pixels for each 5×5 Cell
  • Raw image output in both calibration and implementation modes
    •  Interlaced Output at 19 FPS
    •  Full Frame Output at 0.5 FPS
  •  Supported Hardware
    •  Half Duplex (ROBOTIS)
      •  CM5
      •  CM510
      •  USB2Dynamixel
    •  Full Duplex (RoboBuilder )
      •  RBC
    •  Other platforms (free for all micro controller platforms and arduino)
      •  TTL level RS232
      •  115200 BAUD for Full Duplex Mode
      •  1 MBAUD for Half Duplex Mode
  •  Supported Software
    •  Roboplus (ROBOTIS )
    •  Direct C programming (ROBOTIS )
    •  RBC firmware
    •  Direct C programming (RoboBuilder )

HaViMo2.0 Datasheet