1. ©Roke Manor Research Ltd 2011 Part of the Chemring Group 1 Startiger SEEKER Workshop Estelle Tidey – Roke Manor Research 26 th February 2011

2. ©Roke Manor Research Ltd 2011 Part of the Chemring Group 2 Company snapshot Roke, a wholly owned subsidiary of the Chemring Group PLC, is a provider of contract R&D, technology consultancy and specialist products to the defence, national security and commercial markets. Core expertise in communications, sensors and information systems. Other key facts: £48M turnover in 2010 Situated in Hampshire, UK Over 350 world class scientists & engineers Trusted List X site

3. ©Roke Manor Research Ltd 2011 Part of the Chemring Group 3 Roke's Team Estelle Tidey 4 years at Roke Worked on DROID for ExoMars, Synapse demonstrator for Marshall, Visual Exploration of Buildings (SEAS DTC) Vision Processing Team Consultancy from team of engineers at Roke

4. ©Roke Manor Research Ltd 2011 Part of the Chemring Group 4 Roke's Offering - Major Subsystems DROID Localisation and Mapping Synapse Short range navigation / obstacle avoidance (Long range navigation) Camera Calibration

5. ©Roke Manor Research Ltd 2011 Part of the Chemring Group 5 DROID Structure from Motion algorithm Mono, stereo or potentially more cameras Features detected, matched and tracked for positioning in 3D Used in: ExoMars rover localisation Visual Exploration of Buildings (SEAS DTC)

6. ©Roke Manor Research Ltd 2011 Part of the Chemring Group 6 DROID – Boundary Conditions Accuracy Position error: <1% of distance travelled up to 0.5m travel between frames Orientation error: ~1° / 360° turned, turn <half field of view between frames Depends on speed and frame rate: travel up to 0.5m and turn < half field of view between frames Standard image size (e.g. 776x582) Implemented as C/C++ library for: Windows LEON 2 Pender board Linux (Ubuntu, Red Hat) Scaleable with distance

7. ©Roke Manor Research Ltd 2011 Part of the Chemring Group 7 Synapse Roke’s mission/route planning and navigation technologies Loop closure Local path planning (short range) Higher level path planning (long range) 3D Visualisation Used in: Visual Exploration of Buildings (SEAS DTC) - DORA Marshall SDG autonomous navigation system

8. ©Roke Manor Research Ltd 2011 Part of the Chemring Group 8 Synapse – Boundary Conditions Short range navigation and obstacle avoidance Inputs – 3D feature positions, vehicle position Outputs – drivable paths Designed for indoor (flat terrain) navigation Would need extending to cope with non-flat terrain Long range navigation Inputs – 3D feature positions, vehicle position, drivable paths, mission (explore, patrol waypoints…) Outputs – Path to destination Retains complete history so not currently scaleable (this may not be needed) Could be extended to allow multi level path planning Implemented in C++ on Windows

9. ©Roke Manor Research Ltd 2011 Part of the Chemring Group 9 Camera Calibration Required for DROID structure-from-motion Uses known target to calculate: Intrinsic camera properties Camera focal length Pixel aspect ratio Image centre Lens distortions Extrinsic camera properties Positioning of stereo cameras

10. ©Roke Manor Research Ltd 2011 Part of the Chemring Group 10 Questions