Computer Vision Control of Vectron

1
Computer Vision Control of Vectron Blackhawk
Flying Saucer

• Louis Lesch
• ECE 539
• Computer Vision II

2
Overview

• Vectron Blackhawk Flying Saucer
• Flying toy
• Inherently unstable
• Human controlled
• Cool if automatically controlled

3
Problems with Hovering

• If human controlled
• Mentally taxing
• Requires experience
• No time for other mission objectives
• If computer controlled
• Onboard circuitry is heavy
• Requires bigger / more powerful vehicle for same
  mission objectives

4
Solution to Control

• Soccerbot Plus
• Integrated Computer Vision Camera
• Integrated Servo Controllers

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Joining Soccerbot to Saucer

• Soccerbot captures image of scene
• Searches for sphere on saucer
• Drives servos connected to joysticks
• Corrects orientation
• Corrects absolute position X,Y,Z

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Finding Depth and Global Coordinates
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Method of Deducing Orientation
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Relationship of Orientation to F, ?
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Perspective Problem
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Corrective Vector
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Conclusion

• Difficult project in limited time
• Success - Didnt Happen
• Lingering question of fast enough program cycle
  time, servo lag acceptable
• Most of mechanical problems overcome
• Most of mathematical model derived
• Needed more time and support
• Questions?