More Vision Based Guidance

[reedchristiansen]

Hello,

I thought I would post some more of our recent experiments with vision based UAV controls.

We moved from a Unicorn flying wing to the Miracle from hobby-lobby because of the nice big control surfaces on all three axis (it does fly on rails compared to a yaw-sloppy flying wing). It is also EPP tough.

http://www.hobby-lobby.com/miracle.htm

We participated in a demo out in California where we had fun hitting various moving cars and truck. Lots of fun and some dinged up paint on the bosses car.... I also learned that the correct phraze for what we are doing is "Terminal Guidance". Puts a new perspective on things.

Heres the video:

Fixed Object: Abort
www.procerusuav.com/video/Prosecution/Prosecute_abort_E.MOV
www.procerusuav.com/video/Prosecution/TerminalGuidance_Tent2_Abort.wmv


Fixed Object: Hit
www.procerusuav.com/video/Prosecution/Prosecute_tarp_hit_B.MOV
www.procerusuav.com/video/Prosecution/Prosecute_tarp_hit_C.MOV


Moving Object: Abort
www.procerusuav.com/video/Prosecution/Prosecution_Back1.wmv
www.procerusuav.com/video/Prosecution/Prosecution_Side1.wmv
www.procerusuav.com/video/Prosecution/Prosecute_moving_car_abort_A.mov

Moving Object: Hit
www.procerusuav.com/video/Prosecution/Prosecution_Hit_Car.wmv
www.procerusuav.com/video/Prosecution/TerminalGuidance_LandOnTruck.wmv
www.procerusuav.com/video/Prosecution/TerminalGuidance_ApproachFrom90.wmv

Reed

[Crashaholic]

Cool stuff. Looks like the tracker is kinda working in the moving cases. Are you doing the image processing (tracking) onboard the UAV or are you feeding the imagery back to the ground, doing the processing, and then sending the nav messages back to the UAV? I am assuming it is the latter since it can be overridden with the mouse.

[clolson]

Hi Reed,

Are you doing any video/image processing on board or is it all done on the ground station? I'd love to find some sort of small-ish onboard system that could crunch maybe 1 "live" image per second? If I could figure out a way to feed a live video frame to a gumstix computer, I think that would probably be all the horse power I'd need. Is this possible within the I/O capabilities of a gumstix (or something similar)?

Curt.

[hg1]

If I could figure out a way to feed a live video frame to a gumstix computer, I think that would probably be all the horse power I'd need. Is this possible within the I/O capabilities of a gumstix (or something similar)?
You should be able to interface a USB camera to the gumstix.