Book Image

Hands-On Robotics Programming with C++

By : Dinesh Tavasalkar, Lentin Joseph
Book Image

Hands-On Robotics Programming with C++

By: Dinesh Tavasalkar, Lentin Joseph

Overview of this book

C++ is one of the most popular legacy programming languages for robotics, and a combination of C++ and robotics hardware is used in many leading industries. This book will bridge the gap between Raspberry Pi and C/C++ programming and enable you to develop applications for Raspberry Pi. You'll even be able to implement C programs in Raspberry Pi with the WiringPi library. The book will guide you through developing a fully functional car robot and writing programs to move it in different directions. You’ll then create an obstacle-avoiding robot using an ultrasonic sensor. In addition to this, you’ll find out how to control the robot wirelessly using your PC or Mac. This book will also help you work with object detection and tracking using OpenCV, and guide you through exploring face detection techniques. Finally, you will create an Android app and control the robot wirelessly with an Android smartphone. By the end of this book, you will have gained experience in developing a robot using Raspberry Pi and C/C++ programming.
Table of Contents (16 chapters)
Free Chapter
1
Section 1: Getting Started with wiringPi on a Raspberry Pi
4
Section 2: Raspberry Pi Robotics
8
Section 3: Face and Object Recognition Robot
12
Section 4: Smartphone-Controlled Robot

Face detection using the Haar cascade

Paul Viola and Micheal Jones proposed the Haar feature-based cascade classifier in their paper, Rapid Object Detection using a Boosted Cascade of Simple Features, in 2001. The Haar feature-based cascade classifier is trained using facial images as well as non-facial images. The Haar cascade classifier can not only detect a frontal face but can also detect the eyes, mouth, and nose of a person. The Haar feature-based classifier is also referred to as the Viola-Jones algorithm.

Basic working of the Viola-Jones algorithm

So, put simply, the Viola-Jones algorithm used Haar features to detect a face. Haar generally consists of two main features: edge features and line features. We will first...