Nighttime Driving Capabilities for Rovers Danielle Ator Tim Eddy Jack 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.

Deliverables Testing frame Stereo 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 Rover Project budget restricts camera selection Not a lot of resources for project research outside of JPL site JPL restricts the release of valuable information to those not working within JPL Minimal 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 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 integration Include a 180 degree field of view Needs to have adjustable exposure time

Initial Camera Selection Camera type: PointGrey Dragonfly x 768 B/W 1394a Pros:  Long exposure time  Similar to camera on FIDO Cons:  Too expensive for budget ($ per camera) Camera type: Flea x 768 B/W 1394b Pros:  Second version model of camera on FIDO  Cheaper than Dragonfly 2 Cons:  Too expensive for budget ($ 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 frame Lights 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

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

Budget High range budget Middle range budget Low range budget

Future Work Analyze the initial rover nighttime image data for use in light selection Finish design of the test frame and begin construction Purchase 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

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