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Nighttime Driving Capabilities for Rovers. Danielle Ator Tim Eddy Jack Hompland. Project Definition. - PowerPoint PPT Presentation
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Nighttime Driving Capabilities for Rovers
Danielle AtorTim EddyJack Hompland
Project Definition
The team will design and build a stationary rover test frame to allow for detailed investigation into headlight selection and positioning while also investigating the effects of camera exposure time. The images collected during testing will be used to create range maps of the outlying terrain. The success of the lighting system is dependent upon the detail and quality of the range maps. The lighting system that produces the highest quality range maps while implemented on the test frame will then be constructed to allow for easy mounting to the FIDO rover and sent to JPL for additional testing and possible implementation.
Goal Statement
Create a headlight system that will easily mount to a JPL land rover and display enough illumination for the rover imaging system to take stereo images and create detailed range maps of the outlying terrain during nighttime driving.
DeliverablesTesting frameStereo pair of Cameras
To replicate JPL nighttime imaging
Headlight system To experiment with nighttime illumination
Hazard avoidance cameras (Hazcam)
Navigation cameras (Navcam)
FIDO Rover
Project Constraints
Minimal mounting area on RoverProject budget restricts camera selectionNot a lot of resources for project research outside of JPL siteJPL restricts the release of valuable information to those not working within JPLMinimal access to rover during the fall semester
Test frame used for initial night time photo taking at JPL
Machined Camera mount, distance between the two cameras is adjustable in this setup
JPL’s Existing Test Frame
UI Proposed Test Frame
Material Options 80-20 Aluminum PVC
Base Options Tripod Single Plate
Camera Specifications for Cameras of FIDO Rover
Hazard Cameras (front and back stereo pair) Camera type: PointGrey Flea B/W
1024 x 768 CCD 12 bits Lenses: CS F#1.8 / 2.7mm
Fujinon FE185c086HA-1 one inch format Field of View: ~102° x 76°
Navigation Cameras Camera type: PointGrey Flea B/W
1024 x 768 CCD 12 bots Lenses: CS 1/3” focal length 6 mm
Field of View: ~43° x 32°
Camera Specifications for Test Frame
Test frame cameras should be as close to FIDO cameras as possible while staying within budget constraints Need to have a fire wire (1394) or USB 2.0 interface to allow for calibration and PC integrationInclude a 180 degree field of viewNeeds to have adjustable exposure time
Initial Camera SelectionCamera type: PointGrey Dragonfly 2
1024 x 768 B/W 1394a Pros:
Long exposure time Similar to camera on
FIDO Cons:
Too expensive for budget ($945.00 per camera)
Camera type: Flea 2 1024 x 768 B/W 1394b Pros:
Second version model of camera on FIDO
Cheaper than Dragonfly 2
Cons: Too expensive for
budget ($795.00 per camera)
Range Mapping w/ Stereo Imaging
A range map is created with computer software and images taken by two cameras, one on the left and one on the right, to create a topographic view of a terrain.
Headlight Specifications
Provide illumination to a distance of 3 m value may change after completion of illumination
testing
Include a 180 degree area of illumination Value may change based on budget constraints
Allow for easy mount and removal to and from FIDO rover frameLights should be able to run continuously with a self-contained power source for at least 1 hour, or run from an outlet source with a tether system
Headlight Experimentation
Initial images taken at night using various power sources:
50 W 200 W 250 W 500 W
Images will be run through JPL Vis software which will create range maps of the area in the images
Range maps will be examined for: Accurate representation of terrain Black/incomplete regions Comparison to daylight range maps
Headlight Specifications
Mule MR-16 LED White Light LED Dimmer Capabilities Iluminance: 2 ft => 268 fc/2881 lux
12 ft => 8 fc/89 lux Cost: $40/bulb
http://www.lightworld.com/optiled/pdf/mr16.pdf
Headlight Development
Take nighttime
images with test Rover
Images compiled and processed using JPL Vis
software
Range maps examined for completeness
Construction of headlight prototype
Select various light levels for image taking
testing
Nighttime driving tests
conducted with headlight system
Implementation of headlight
system
Incomplete
Unacceptable Performance
BudgetItem Specifications Cost Quantity Total Cost
Camera KitPointGrey 1024 x 768 BW Dragonfly2 Developer Kit $945 2 $1,890
LensFujinon FE185C086HA-1 FishEye Lens $466 2 $932
Headlights To Be Determined $40 2 $80
Power Source Newnex 4Power Adapter $25 1 $25
Test Frame/Misc. Including Travel $700 1 $700
Total Imaging Cost: $3,627
Item Specifications Cost Quantity Total Cost
Camera KitPointGrey 1024 x 768 BW Flea2 Developer Kit $795 2 $1,590
LensChoose new lens for this option $250 2 $500
Headlights To Be Determined $40 2 $80
Power Source Newnex 4Power Adapter $25 1 $25
Test Frame/Misc. Including Travel $700 1 $700
Total Imaging Cost: $2,895
Item Specifications Cost Quantity Total Cost
Camera KitCanon PowerShot Digital Camera $700 2 $1,400
LensLens not necessary for consumer digital $0 2 $0
Headlights To Be Determined $5 1 $5
Power SourceBattery charger included with camera $0 1 $0
Test Frame/Misc. Including Travel $700 1 $700
Total Imaging Cost: $2,105
High range budget Middle range budget
Low range budget
Future Work
Analyze the initial rover nighttime image data for use in light selectionFinish design of the test frame and begin constructionPurchase supplies
Camera Lights Test frame material
Future Work Schedule
Major Milestones: Project Proposal – August 4, 2006 Senior Snapshot – December 7, 2006 Final Report – December 13, 2006
Week 1 Week 2 Week 3 Week 4 Week 1 Week 2 Week 3 Week 4 Week 1 Week 2 Week 3 Week 4 Week 1 Week 2 Week 3 Week 4Design and analyze Rover test frameNighttime image experimentationSelection of headlights for test frame/RoverSelection of test frame camerasConstruction of rover test frameConstruction of headlight mounting systemTesting of headlight system with rover test frameCompilation and wiriting of final paperFinal touches on headlight mounting system
July August September OctoberWeek 1 Week 2 Week 3 Week 4 Week 1 Week 2
DecemberNovember
Headlight Experimentation Problems
Nighttime image taking on FIDO rover Problems encountered:
Setting CLARAty account necessary to use FIDO
Finding camera models to create range maps from images
Engineers being available to help on tasks
Rover Test Frame
General headlight mounting region
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