Humanoid Robot NAO Playing "Spot The Differences" Game

Abstract

This thesis is an application about the computer vision and image comparing strategy in the NAO robot, whose main purpose is to enable the NAO Robot to play “Spot the Differences” game autonomously and precisely. The whole application consists of a strategy module and a behavior module. The strategy module is the main part of the thesis which contains the perspective transformation method, image slicing process in python, template matching algorithm and the simulated mouse clicking. Behavior module is the behavior designing of the NAO robots throughout the entire application. The result of this application is that NAO can find out all four different places between two pictures and complete the game correctly. Also by using these comparing strategies, NAO can do it much faster than human beings with satisfactory answers.

The 5th generation of the Aldebaran Robotics company’s NAO robot is used in this thesis and the programming language mainly used is Python. The entire application is based on the Window 10 operating system on the PC together with the NAOqi operating system running on the NAO Robot. Opencv version 2.4.12 was chosen to be the software for processing the images and Choregraphe 2.1.3 was used to design the behaviors.