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Virtual Imaging Peripheral for Enhanced Reality

Virtual Imaging Peripheral for Enhanced Reality. Aaron Garrett, Ryan Hannah, Justin Huffaker , Brendon McCool. General Constraints. Implementing a Kalman Filter Requires interfacing with Accelerometer Gyroscope Magnetometer Camera Process Module Ultrasonic Module

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Virtual Imaging Peripheral for Enhanced Reality

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  1. Virtual Imaging Peripheral for Enhanced Reality Aaron Garrett, Ryan Hannah, Justin Huffaker, Brendon McCool

  2. General Constraints • Implementing a Kalman Filter • Requires interfacing with • Accelerometer • Gyroscope • Magnetometer • Camera Process Module • Ultrasonic Module • Fast update rate optimally all sensors ~40 times a second • Clean Packaging, device must be worn

  3. BlockDiagram

  4. BlockDiagram • Requires Band Pass filter centered at 40 kHz • Voltage Comparator to read incoming pulse • Possible output signal amplification requried • Assuming • Approximate distance is ~2 meters • Speed of Sound ~340 m/s • ~0.00588 seconds or ~6 ms flight time • Transmit time of ~16ms • Then max data rate 62.5 samples/sec • <2% error requires uCclk > 8503 Hz • Requires 40 kHz PWM burst from uC • Signal needs to amplified to ~5-10V • Burst length of about 5ms

  5. BlockDiagram Time stamp Transmit and receive data rate faster then Ultrasonic data rate

  6. BlockDiagram • Optimal data rate for camera and processing ~40Hz • Data rate of ~10Hz more likely • Minimize error by increasing angle resolution • Larger pixel resolution the better • Large amount of data being transferred • Increased performance requires buffering • large enough Flash or Sram to buffer data into • Possible uC we found AT91SAM7S64 • ARM7 • Possibly could use an ARM9 more effectively

  7. BlockDiagram • Small package to fit on glasses • Accelerometer 3 axis • MMA8452Q • 12bit ±2g, ->0.488mg sensitivity • I2C interface 1.5 to 800 Hz data rate • 1.95 V to 3.6 V supply voltage • Gyroscope 3 axis • ITG-3200 • 16-bit ±2000°/sec • I2C interface • 3.9 – 8000 samples/sec • 2.1 V to 3.6 V supply voltage • Magnetometer 3 axis • MAG3110 • ±1000 μT range • 0.10 μT sensitivity • I2C interface • Output data rate up to 80 Hz • 1.95 V to 3.6 V supply voltage

  8. BlockDiagram • Read incoming data • Update Kalman Filter Equation • Accel max ~800 times/sec • Gyro max ~8000 times/sec • Mag max ~80 times/sec • Ultrasonic max ~70 times/sec • Visual max ~40 times/sec • Update graphics • Optimal about ~30 fps

  9. Project-Specific Success Criteria • The ability to communicate time stamp data usingRF between the base unit and head unit. • The ability to display images to the video glasses. • The ability to calculate estimate of angle and position of head unit using accelerometer, gyroscope, and compass. • An ability to find angle displacement of head relative to IR beacon origin using glasses mounted camera. • An ability to find distance from base to head unit using ultrasonic emitter and receiver.

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