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Sep 26, 2012, 01:10 AM
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Another camera turret

A pan/tilt mount has become the least common denominator for indoor position sensing, whatever the vision algorithm is. Kinekt realized it. Webcams have had pan/tilt mounts forever. It's no longer prohibitively expensive.

Distance sensing worked well enough to go ahead with the pan/tilt mount. It turned out horizontal drift was from pausing the camera clock. If the camera clock was paused by turning off the GPIO, it drifted. If it was paused by turning off the timer, it stopped drifting. Turning off the GPIO added 1 more pulse than turning off the timer, but unless the camera has a 2nd clock, it shouldn't matter.

The frame rate made it up to 40fps, giving 20Hz position updates. The hope is wiggling the servos will increase the horizontal resolution beyond 640. Higher resolution cameras would be nice.

Every pan/tilt mount has to be sent out to make money, so a lot of time goes into building new ones.
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