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Nighttime Driving Capabilities for Rovers

Nighttime Driving Capabilities for Rovers. Danielle Ator Tim Eddy Jack Hompland. Project Definition.

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Nighttime Driving Capabilities for Rovers

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  1. Nighttime Driving Capabilities for Rovers Danielle Ator Tim Eddy Jack Hompland

  2. 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.

  3. 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.

  4. Navigation cameras (Navcam) Hazard avoidance cameras (Hazcam) Deliverables • Testing frame • Stereo pair of Cameras • To replicate JPL nighttime imaging • Headlight system • To experiment with nighttime illumination FIDO Rover

  5. Project Constraints • Minimal mounting area on Rover • Project budget restricts camera selection • Not a lot of resources for project research outside of JPL site • JPL restricts the release of valuable information to those not working within JPL • Minimal access to rover during the fall semester

  6. Machined Camera mount, distance between the two cameras is adjustable in this setup JPL’s Existing Test Frame Test frame used for initial night time photo taking at JPL

  7. UI Proposed Test Frame • Material Options • 80-20 Aluminum • PVC • Base Options • Tripod • Single Plate

  8. 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°

  9. 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 integration • Include a 180 degree field of view • Needs to have adjustable exposure time

  10. Camera 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) Initial Camera Selection

  11. 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.

  12. 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 frame • Lights 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

  13. 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

  14. 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

  15. Nighttime driving tests conducted with headlight system Unacceptable Performance Take nighttime images with test Rover Select various light levels for image taking testing Images compiled and processed using JPL Vis software Construction of headlight prototype Range maps examined for completeness Implementation of headlight system Incomplete Headlight Development

  16. Budget Middle range budget High range budget Low range budget

  17. Future Work • Analyze the initial rover nighttime image data for use in light selection • Finish design of the test frame and begin construction • Purchase supplies • Camera • Lights • Test frame material

  18. Future Work Schedule • Major Milestones: • Project Proposal – August 4, 2006 • Senior Snapshot – December 7, 2006 • Final Report – December 13, 2006

  19. 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

  20. General headlight mounting region Rover Test Frame

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