The electronics of this system can be broken down into 3 seperate sections, namely the microntroller and the surrounding circuitry, the electromagnet driver and the stepper motor driver.
The design can be further broken down into 3D printed parts and Laser Cut Parts.
The wheels were designed to look like Mario Kart wheels with a big M in the center. These were 3d printed out of PLA plastic.
The camera mount was made out of laser cut plywood with a 3d printed PLA plastic Mario badge in its center. This was a necessary feature as functional holder of the camera as well as a style feature as it fits well within the Mario Kart theme.
A further circuit, seen in the above images, was necessary to drive the solenoids used in the Koopa shell cannons. This solenoid driver circuit is shown below.
The above options presented to the client represent the capabilities of the controller.
Next, the data is downsampled so as to reduce the amount of processing required. This is done by first applying a voxel grid filter which takes a spatial average of the data points within the given sized voxel (3D box). After that, a further filter is applied by removing the statiscal outliers left in the point cloud. This reduced the number of points to process from 1292208 to 39630 while the data remains accurate. The downsampled cloud is shown below:
These are screenshots of the contour matching (left) and feature homography (right) methods being used for object of interest identification.