Hexa Tick Tack Toe
Place the playing board somewhere on a wall (in the reaching distance of the robot), take turns and try to win the game
How does it work
I am using OpenCV in order to process the image and get bounding boxes for the game board itself and also for each of the smaller 9 squares (where X or 0 would be written).
In more details, the image processing pipeline looks like this:
- Inverting pixels
- Applying threshold
- Computing contours
- Filtering contours
Approximating the contours (to remove extra edges)
Keeping only the contours that have 4 edges
Looking for a bigger contour that includes 9 sub contours (game board with all the 9 smaller squares)
- Iterating through contours and looking at the pixels colors to determine if a square is empty, contains and X or 0 (the robot and the player are going to use different colors)
Robot writing
I have mounted a marker on the robot’s head and using a built-in distance sensor it will approach the wall until the tip of the marker touches it, and then it nods its head or tilts its body to make an X
Problem: the distance to the wall must be very precise, otherwise the marker would just bend
Technologies used
- GO
- OpenCV
Github
The Project was realized in the 3rd year of University