This was a project to make a self driving golf cart using computer vision, specifically OpenCV. We made a smaller version as a prototype using a Raspberry Pi, a webcam, stepper motor, and 2 small DC motors. After that we applied what we learned from the small scale model to our golf cart. We managed to make wide and sharp turns.

Skills: Computer Vision (OpenCV), Java (Processing ), Raspberry Pi, Construction and Fabrication

We made an algorithm to detect the blue value of each pixel of the video. Since the road was a light gray, it should have a lot of blue value, and the green to yellowish grass should have a low blue value. If the amount of blue is less that our threshold, we would turn it black, otherwise it would be white. From there we had a decent image of the road, and picked three spots to find the edges of the road, then averaged the values to find the center (the green line). Then we mapped the steering of the kart to where the green line is on the screen