Computer Vision Control of Vectron® Blackhawk Flying Saucer Louis Lesch ECE 539 Computer Vision II

Overview Vectron® Blackhawk Flying Saucer Flying toy Inherently unstable Human controlled Cool if automatically controlled

Problems with Hovering If human controlled –Mentally taxing –Requires experience –No time for other mission objectives If computer controlled –Onboard circuitry is heavy –Requires bigger / more powerful vehicle for same mission objectives

Solution to Control Soccerbot Plus Integrated Computer Vision Camera Integrated Servo Controllers

Joining Soccerbot to Saucer Soccerbot captures image of scene Searches for sphere on saucer Drives servos connected to joysticks Corrects orientation Corrects absolute position X,Y,Z

Finding Depth and Global Coordinates

Method of Deducing Orientation

Relationship of Orientation to Φ, θ

Perspective Problem

Corrective Vector

Conclusion Difficult project in limited time Success - Didn’t Happen Lingering question of fast enough program cycle time, servo lag acceptable Most of mechanical problems overcome Most of mathematical model derived Needed more time and support Questions?