Camera Control Loop

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 Packet
Mote Position
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
(No Transcript)
6
Base Station Configuration File

• 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

• 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

7
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