  Robotics can be defined as the connection of perception to action. Taking
this further, this project aims to drive a robot using an automated computer
vision embedded system, connecting the robot's vision to its behavior. In order
to implement a color recognition system on the robot, open source tools are
chosen, such as Processing language, Android system, Arduino platform and Pixy
camera. The constraints are clear: simplicity, replicability and financial
viability. In order to integrate Robotics, Computer Vision and Image
Processing, the robot is applied on a typical mobile robot's issue: line
following. The problem of distinguishing the path from the background is
analyzed through different approaches: the popular Otsu's Method, thresholding
based on color combinations through experimentation and color tracking via hue
and saturation. Decision making of where to move next is based on the line
center of the path and is fully automated. Using a four-legged robot as
platform and a camera as its only sensor, the robot is capable of successfully
follow a line. From capturing the image to moving the robot, it's evident how
integrative Robotics can be. The issue of this paper alone involves knowledge
of Mechanical Engineering, Electronics, Control Systems and Programming.
Everything related to this work was documented and made available on an open
source online page, so it can be useful in learning and experimenting with
robotics.
