Questions

1. We used the HSV color system when tracking colored objects. Why would the RGB color system not work for this?
2. PID controllers (or PI control) were used for both behaviors. To the color-tracking behavior, we added an anti-windup measure—what would happen without this limit?
3. When performing computer vision, we use a low resolution for the images. What are some of the reasons for choosing a low resolution?
4. Why do we use queues to send data between the processes in our system?
5. In the color-tracking behavior, what step is needed in between using color filters to make a masked image, and generating enclosing circles for the remaining blobs?

For further learning, I recommend the reader try the other cascade files found in the /usr/share/opencv/haarcascades folder on the Raspberry Pi. Perhaps you could try swapping features of the two behaviors, in order to use the...