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Object Tracking / Driving to an Object

Resources
  • Our Page on Object Distance Estimation
  • Our Page on Autonomous Movement

Object Tracking​

Our turret module provides a tutorial on object tracking as well as a codebase where object tracking is implemented (be sure to also look at the case study section in the linked module):

Driving to an Object​

Our Way​

Implement the following algorithm:

  • Detect the object and store its bounding box (refer to the Machine Learning Toolchain module)
  • Determine the distance from the object to the camera (refer to the Object Distance Estimation module). You will only need the distance on the z and x axis for this.
  • You now have the hypotenuse (distance on the z-axis) and one side length (absolute value of the distance on the x-axis) of a right triangle! Solve for the other side length through the Pythagorean theorem. This second side is your y distance!
  • Add the x (horizontal) and newly calculated y distance to your robot's current position, this is the object's real-world position. Note that you have to account for the robot's orientation!
  • Plug the position into your autonomous movement functions (refer to the autonomous movement sections)

Alternative Methods​

The FTC samples also give an excellent tutorial on driving to a detected object!

Real World Example​

FTC Team Hazen Robotics has implemented code that can drive to a game element:

https://github.com/HazenRobotics/freight-frenzy/blob/master/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/TargetPositionCalculator.java https://github.com/HazenRobotics/freight-frenzy/blob/master/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/vision/HomographyTargetDistance.java