CUBE DETECTION

The foam cubes seen below formed a surprisingly difficult target to discern from one another, as we needed to localize a single cube's real-space position to within 0.5" for the 2017-2018 FIRST Tech Challenge. Due to the low contrast and fuzzy edges, I created an original algorithm combining Canny edge detection, geometric filtering, Gaussian scoring, and other techniques to find the exact position of one such cube to within 0.3", with a run-time per cycle averaging at 800ms on a low-end smart phone.