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Camera Control Loop & Base Station

Camera Control Loop & Base Station. Shawn Schaffert. System Overview. Node network. RF. serial. Base Station (Linux & C++). Pan/Tilt/Zoom Camera. serial. Base Station Software Overview. TOS packet. Mote Position. Mote Packet. serial. Estimate Pursuer & Evader Position.

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Camera Control Loop & Base Station

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  1. Camera Control Loop & Base Station Shawn Schaffert

  2. System Overview Node network RF serial Base Station (Linux & C++) Pan/Tilt/Zoom Camera serial

  3. Base Station Software Overview TOS packet Mote Position Mote Packet serial Estimate Pursuer & Evader Position Predict Evader Position Base Station Base Station Camera Camera packet Camera Interface serial

  4. Estimating Position • Loudest Node • Center of mass • Grouping (Experimental) • k-means • ??

  5. max_x_inches max_y_inches max_x_discrete max_y_discrete number_motes_x number_motes_y camera_base_x_inches camera_base_y_inches camera_base_z_inches camera_base_height_inches camera_descent_angle_degrees camera_zoom_factor mote_proxy_server_ip mote_proxy_server_port_number camera_device mote_device connect_to_mote_proxy base_station_camera_debug base_station_debug mote_proxy_debug max_number_sensor_readings mote_group_id am_handler log_data log_file_name read_data_from_file input_file_name Base Station Configuration File

  6. Alternative System Overview(ping pong table light tracking) Node network Pan/Tilt/Zoom Camera RF serial serial Base Station 2 (Linux & C++) (UGV) Base Station 1 (Windows & Matlab) Serial or RF

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