Flight Program:
Execution Steps:
Detect Pylon
Geolocate Pylon
Send Pylon coordinates to ground station
Task: Module - Task | Blocking Aspects | Remaining subtasks | Target Completion | Responsible |
|---|---|---|---|---|
Geolocation - Input Conversion | Measurement of camera FOV, Measurement of GPS position | Design approach to problem, measure camera FOV, implement functions | March 31st | Andrew and Kevin |
Geolocation - Statistical Analysis → Use weighted mean approach. | None | Get weights (probability of selection) from YOLO model then take weighted average | March 20th | Addesh |
Target Acquisition - Model Training and Saving | Collecting training data | Get lightbridge running, get GoPro running, setup gopro → lightbridge, lightbridge → decklink and decklink → opencv | March 20th | N/A |
Command Module - Configure for telemetry use | Review of by Shrinjay and merging command module | Define data source and output for command module, implement | March 13th | Shrinjay |
Taxi Program:
Approach Pylon
Identify boxes left to right
Scan QR code, detect correct or incorrect box
Traverse boxes to select correct box
Task: Module - Task | Blocking Aspects | Remaining subtasks | Target Completion | Responsible |
|---|---|---|---|---|
Target Acquisition - Box Model verification and deployment | None | Done. | March 27th | Shrinjay for Review |
Distance Measurement | Camera intrinsics data , sync up on others | Pending status update | March 27th | Andy |
QR Scanning | Camera setup, Correct QR Code | Identify library, identify how we get the correct QR code, implement library with stream from camera | March 27th | Aryan |
Box Traversal | TBD | TBD | TBD - On hold | On hold |
Deployment and Testing:
Deployment Requirements
Vision → GoPro, Lightbridge, DeckLink, GStreamer
Communication → PIGO communication through command module
Processing → Connecting models into programs, finishing threading
Operation → Running computer vision program on ground station
Requirement | Blocking Aspects | Remaining Subtasks | Completed Subtasks | Date | Responsible |
|---|---|---|---|---|---|
Vision | GoPro and Lightbridge Posession | Set up GoPro and Lightbridge. Connect Lightbridge to DeckLink. Confirm video flow from GoPro → Lightbridge → DeckLink → GStreamer. | Set up computer. Set up DeckLink. | March 27th | Xierumeng |
Communication | Command Module verification and merge | Wrap up command module. Confirm command module on firmware end is complete. System test communication. | Command module draft. | March 27th | Shrinjay and Andrew |
Processing | Command Module merge, Geolocation Module completion, Shrinjay’s threading PR (Yes I’m calling myself out) | Add pipelines between main and geolocation module. Add pipeline between main and command module. Define and implement flight, search and taxi programs. | Module completion. Threading draft. | April 7th | Shrinjay, Addesh (Pipelines) |
Operation | Completion of entire computer vision system | Install and deploy system. | None. | April 14th | Shrinjay, Aryan |