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

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

3. 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

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

5. 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

6. Finding Depth and Global Coordinates

7. Method of Deducing Orientation

8. Relationship of Orientation to Φ, θ

9. Perspective Problem

10. Corrective Vector

11. 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?