Post on 07-Mar-2018
Gesture Controlled Drone6.111 Final Project Presentation
Ben Schreck and Lee Gross
A little about UAVs
High Level System Diagram
Drone ControllerGesture State MachineHand DetectionKinect USB Adapter
PC FPGA
PC
Microsoft Kinect
Kinect Camera
PrimeSense NITE Hand
Tracker
Serial Port (USB)
Raw RGB & Infrared Data
OpenNI Drivers
Hand Coordinates to Serial Port Program
RGB & Depth Stream Hand Coordinates
Depth Stream
Kinect Camera
USB Module Verilog USB/Serial Module
Gesture Recognition
Turning Drone On
State 3
State 2
State 1
State 4
Idle
State 0
State 5
State 6
State 7
Turning Drone OffIdle
Center
Left
Center
Idle
Center
Right
Center
Off
Hover
Roll
Pitch
Graphics
Tracking Gesture: RollCurrent Value: 129
Remote Control Interface
FPGA AD558 DAC Remote Control
Analog Outs (0 ->3 Volts)Digital Outs (1 or 10 Bits)
On/OffHover
PitchRoll
Trim
On/OffHover
PitchRoll
Trim
Common Ground
Additional Features
Tracking Gesture: RollCurrent Value: 129
Camera & Wireless Transmitter
TimelineKinect Input
Drone Control Interconnect
USB Module
On Gesture
Off Gesture
Up/Down Gesture
Roll Gesture
Pitch Gesture
Integration/Debug If necessary
Graphics If necessary
Video Feed If time allows
Week 1: 11/10 - 11/16 Week 2: 11/17 - 11/23 Week 3: 11/24 - 11/30 Week 4: 12/1 - 12/7
Potential Issues
Integration might take longer than expected
USB module could prove challenging
It might be hard to connect leads from FPGA to Remote Controller
PC->FPGA connection might be too slow to effectively control quadcopter