Nighttime Driving Capabilities for Rovers

Danielle AtorTim EddyJack Hompland

Project Definition

The team will design and build a stationary rover test frame to allow for detailed investigation into headlight selection and positioning while also investigating the effects of camera exposure time. The images collected during testing will be used to create range maps of the outlying terrain. The success of the lighting system is dependent upon the detail and quality of the range maps. The lighting system that produces the highest quality range maps while implemented on the test frame will then be constructed to allow for easy mounting to the FIDO rover and sent to JPL for additional testing and possible implementation.

Goal Statement

Create a headlight system that will easily mount to a JPL land rover and display enough illumination for the rover imaging system to take stereo images and create detailed range maps of the outlying terrain during nighttime driving.

DeliverablesTesting frameStereo pair of Cameras

To replicate JPL nighttime imaging

Headlight system To experiment with nighttime illumination

Hazard avoidance cameras (Hazcam)

Navigation cameras (Navcam)

FIDO Rover

Project Constraints

Minimal mounting area on RoverProject budget restricts camera selectionNot a lot of resources for project research outside of JPL siteJPL restricts the release of valuable information to those not working within JPLMinimal access to rover during the fall semester

Test frame used for initial night time photo taking at JPL

Machined Camera mount, distance between the two cameras is adjustable in this setup

JPL’s Existing Test Frame

UI Proposed Test Frame

Material Options 80-20 Aluminum PVC

Base Options Tripod Single Plate

Camera Specifications for Cameras of FIDO Rover

Hazard Cameras (front and back stereo pair) Camera type: PointGrey Flea B/W

1024 x 768 CCD 12 bits Lenses: CS F#1.8 / 2.7mm

Fujinon FE185c086HA-1 one inch format Field of View: ~102° x 76°

Navigation Cameras Camera type: PointGrey Flea B/W

1024 x 768 CCD 12 bots Lenses: CS 1/3” focal length 6 mm

Field of View: ~43° x 32°

Camera Specifications for Test Frame

Test frame cameras should be as close to FIDO cameras as possible while staying within budget constraints Need to have a fire wire (1394) or USB 2.0 interface to allow for calibration and PC integrationInclude a 180 degree field of viewNeeds to have adjustable exposure time

Initial Camera SelectionCamera type: PointGrey Dragonfly 2

1024 x 768 B/W 1394a Pros:

Long exposure time Similar to camera on

FIDO Cons:

Too expensive for budget ($945.00 per camera)

Camera type: Flea 2 1024 x 768 B/W 1394b Pros:

Second version model of camera on FIDO

Cheaper than Dragonfly 2

Cons: Too expensive for

budget ($795.00 per camera)

Range Mapping w/ Stereo Imaging

A range map is created with computer software and images taken by two cameras, one on the left and one on the right, to create a topographic view of a terrain.

Headlight Specifications

Provide illumination to a distance of 3 m value may change after completion of illumination

testing

Include a 180 degree area of illumination Value may change based on budget constraints

Allow for easy mount and removal to and from FIDO rover frameLights should be able to run continuously with a self-contained power source for at least 1 hour, or run from an outlet source with a tether system

Headlight Experimentation

Initial images taken at night using various power sources:

50 W 200 W 250 W 500 W

Images will be run through JPL Vis software which will create range maps of the area in the images

Range maps will be examined for: Accurate representation of terrain Black/incomplete regions Comparison to daylight range maps

Headlight Specifications

Mule MR-16 LED White Light LED Dimmer Capabilities Iluminance: 2 ft => 268 fc/2881 lux

12 ft => 8 fc/89 lux Cost: $40/bulb

http://www.lightworld.com/optiled/pdf/mr16.pdf

Headlight Development

Take nighttime

images with test Rover

Images compiled and processed using JPL Vis

software

Range maps examined for completeness

Construction of headlight prototype

Select various light levels for image taking

testing

Nighttime driving tests

conducted with headlight system

Implementation of headlight

system

Incomplete

Unacceptable Performance

BudgetItem Specifications Cost Quantity Total Cost

Camera KitPointGrey 1024 x 768 BW Dragonfly2 Developer Kit $945 2 $1,890

LensFujinon FE185C086HA-1 FishEye Lens $466 2 $932

Headlights To Be Determined $40 2 $80

Power Source Newnex 4Power Adapter $25 1 $25

Test Frame/Misc. Including Travel $700 1 $700

Total Imaging Cost: $3,627

Item Specifications Cost Quantity Total Cost

Camera KitPointGrey 1024 x 768 BW Flea2 Developer Kit $795 2 $1,590

LensChoose new lens for this option $250 2 $500

Headlights To Be Determined $40 2 $80

Power Source Newnex 4Power Adapter $25 1 $25

Test Frame/Misc. Including Travel $700 1 $700

Total Imaging Cost: $2,895

Item Specifications Cost Quantity Total Cost

Camera KitCanon PowerShot Digital Camera $700 2 $1,400

LensLens not necessary for consumer digital $0 2 $0

Headlights To Be Determined $5 1 $5

Power SourceBattery charger included with camera $0 1 $0

Test Frame/Misc. Including Travel $700 1 $700

Total Imaging Cost: $2,105

High range budget Middle range budget

Low range budget

Future Work

Analyze the initial rover nighttime image data for use in light selectionFinish design of the test frame and begin constructionPurchase supplies

Camera Lights Test frame material

Future Work Schedule

Major Milestones: Project Proposal – August 4, 2006 Senior Snapshot – December 7, 2006 Final Report – December 13, 2006

Week 1 Week 2 Week 3 Week 4 Week 1 Week 2 Week 3 Week 4 Week 1 Week 2 Week 3 Week 4 Week 1 Week 2 Week 3 Week 4Design and analyze Rover test frameNighttime image experimentationSelection of headlights for test frame/RoverSelection of test frame camerasConstruction of rover test frameConstruction of headlight mounting systemTesting of headlight system with rover test frameCompilation and wiriting of final paperFinal touches on headlight mounting system

July August September OctoberWeek 1 Week 2 Week 3 Week 4 Week 1 Week 2

DecemberNovember

Headlight Experimentation Problems

Nighttime image taking on FIDO rover Problems encountered:

Setting CLARAty account necessary to use FIDO

Finding camera models to create range maps from images

Engineers being available to help on tasks

Rover Test Frame

General headlight mounting region