Zebracorns

Zebracorn Labs

Here at the Zebracorns, we believe in learning and pushing boundaries. In persuit of that, we have publish papers, give talks and have other tidbits of knowledge lying around. We hope you enjoy these as much as we do.
2016 FRC Workshops Basic Vision Presentation    Programming - Vision

Date Published: Dec 17, 2016
Author(s): Alon Greyber , Kevin Jaget , Adithya Balaji

How to get started with vision for FRC. This will include basic techniques, GRIP, using co-processors and OpenCV

2016 FRC Workshops Advanced Vision Presentation    Programming - Vision

Date Published: Dec 17, 2016
Author(s): Alon Greyber , Kevin Jaget , Adithya Balaji

How to set up and use a Jetson TX1 with advanced object recognition techniques. Covers hardware setup such as powering the board and connecting to the robot network. Also covers vision coding techniques used to find retroreflective tape targets commonly found in FRC games.

Team Culture    Preseason

Date Published: Dec 17, 2016
Author(s): Marshall Massengill

Presented by Marshall Massengill and Amrita Malur at the FIRST NC workshops.

2016 nVidia FRC Day Presenation    Programming - Vision

Date Published: Dec 13, 2016
Author(s): Marshall Massengill , Kevin Jaget

Team900 was invited to nVidia's FRC First day to present this overview of their 2016 vision code

The Rise of a New HERO    Programming

Date Published: Sep 20, 2016
Author(s): Marshall Massengill

This project began as a thought exercise after one of our mentors had been playing with the new HERO board from Cross the Road Electronics (CTRE). The board was lightweight and versatile enough to be a very reliable robot control system.

Zebravision 4.0 Neural Nets    Programming - Vision

Date Published: Aug 18, 2016
Author(s): Alexander Allen

Document describing the structure, implementation and utilization of neural networks for tracking game objects on the field in real time. We used the Caffe library from Berkeley Vision, the OpenCV library, and the DIGITS software from NVIDIA to create the neural network. This specific network was developed to track boulders for the FRC 2015-2016 season but can be applied to track virtually any object with proper data collection and training.

Zebravision 4.0 Image Capturing    Programming - Vision

Date Published: Jun 6, 2016
Author(s): Ben Decker

Zebravision 4.0 is Team 900s vision system for the 2016 season; FIRST Stronghold. Our work was focused around recognizing the vision goals using shape and color based matching, recognizing the boulders using a neural network, and integrating the detection systems into a tracking system using the StereoLabs ZED stereo camera. This paper describes our methods of generating data for the neural networks. We took video of the ball using various lighting conditions and different, single-color backgrounds. We then identified the ball in these videos, took the clearest frames with the ball visible, and applied randomized shifts to the background in order to generate data.

Zebravision 4.0 Goal Detection    Programming - Vision

Date Published: May 23, 2016
Author(s): Alon Greyber

Zebravision 4.0 is Team 900s vision system for the 2016 season; FIRST Stronghold. Our work was focused around recognizing the vision goals using shape and color based matching, recognizing the boulders using a neural network, and integrating the detection systems into a tracking system using the StereoLabs ZED stereo camera. One of the main features of Team 900’s Zebravision code this year was goal detection. This paper gives an overview of the hardware and code used. The system used a Stereolabs ZED RGB-depth camera and green LED rings to highlight the retroreflective tape around the goal. The image was filtered to look for the reflected LED color and thresholded to turn it into binary “green / not green” image. The code then extracted contours from the image and applied a number of simple filters to rule out blobs which were obviously not goals. The remaining contours were scored in a number of criteria and the best scoring few objects were assumed to be goals. If more than one valid goal is found, several tiebreakers were used to pick one goal to shoot at. If a valid goal was found, the angle and distance to the target was reported; if none were found, a packet with -1.0 distance and angle was returned to the roboRIO.

Zebravision 4.0 Object Tracking    Programming - Vision

Date Published: May 19, 2016
Author(s): Alon Greyber

Zebravision 4.0 is Team 900s vision system for the 2016 season; FIRST Stronghold. Our work was focused around recognizing the vision goals using shape and color based matching, recognizing the boulders using a neural network, and integrating the detection systems into a tracking system using the StereoLabs ZED stereo camera. This paper describes our tracking system, or how we get useful information that is persistent across frames from our detections.

Talon SRX - Breakout and Adapter Board    Programming

Date Published: Dec 20, 2015
Author(s):

This is a paper written in conjunction with FRC team 5190 - Green Hope Falcons. It is

Noah Johnson

Member 2014-2015
Role on team Team Lead
Documents Published Battery Cart(10/14/14)

Austin Page

Member 2010-2016
Role on team Mentor
Documents Published Battery Cart(10/14/14)

Marshall Massengill

Member 2006-
Role on team Mentor
Documents Published Team Culture(12/17/16)
2016 nVidia FRC Day Presenation(12/13/16)
The Rise of a New HERO(09/20/16)
Virtual Kit of Parts & FIRST Choice(11/18/15)

Megan Wenzinger

Member 2012-
Role on team Mentor
Documents Published Timelog Website(10/20/14)

Daniel Kenline

Member 2013-2015
Role on team Member
Documents Published 2015 Control System(12/14/14)

Noah Haskell

Member 2012-2016
Role on team Team Lead
Documents Published Command and Control(12/ 5/15)
Version Control(12/ 5/15)
Swerve in Command and Control(11/23/15)
2015 Control System(12/14/14)

Jackson Bostian

Member 2015-2015
Role on team Member
Documents Published Swerve in Command and Control(11/23/15)

Patricia Beekman

Member 2013-2015
Role on team Member
Documents Published Strategy Presentation 2014-2015(12/14/14)
Scouting Presentation 2014-2015(12/14/14)

Alon Greyber

Member 2013-2017
Role on team Team Lead
Documents Published 2016 FRC Workshops Basic Vision Presentation(12/17/16)
2016 FRC Workshops Advanced Vision Presentation(12/17/16)
Zebravision 4.0 Goal Detection(05/23/16)
Zebravision 4.0 Object Tracking(05/19/16)
Computer Vision(12/ 5/15)
Zebravision 3.5(11/20/15)
Zebravision 3.0(05/28/15)

Alexander Allen

Member 2015-2017
Role on team Member
Documents Published Zebravision 4.0 Neural Nets(08/18/16)

Ben Decker

Member 2015-2016
Role on team Member
Documents Published Zebravision 4.0 Image Capturing(06/ 6/16)

James Parks

Member 2012-2016
Role on team Mentor
Documents Published LabVIEW Library for the NavX(01/10/15)
Zebra-Vision(03/13/12)

Ryan Mcklinkle

Member 2003-2004
Role on team Member
Documents Published 2004 FIRST Transmission(01/ 1/04)

Kevin Jaget

Member 2014-
Role on team Mentor
Documents Published 2016 FRC Workshops Basic Vision Presentation(12/17/16)
2016 FRC Workshops Advanced Vision Presentation(12/17/16)
2016 nVidia FRC Day Presenation(12/13/16)

Adithya Balaji

Member 2015-
Role on team Team Lead
Documents Published 2016 FRC Workshops Basic Vision Presentation(12/17/16)
2016 FRC Workshops Advanced Vision Presentation(12/17/16)

Rourke Creighton

Member 2011-2013
Role on team Team Lead
Documents Published Zebra-Vision(03/13/12)

Andrew Vitkus

Member 2011-2013
Role on team Team Lead
Documents Published Zebra-Vision(03/13/12)

Bailey Blankenship

Member 2011-2015
Role on team Team Lead
Documents Published Talon SRX Adapter Boards(01/ 1/15)

Tanya Mital

Member 2014-2016
Role on team Team Lead
Documents Published

Chase Roycroft

Member 2014-2016
Role on team Team Lead
Documents Published

Will Guthrie

Member 2014-2016
Role on team Team Lead
Documents Published CAD and Onshape(12/ 5/15)