AR.Drone with the KIPR Link

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Beta
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Here's a video we put together showing the AR.Drone doing blob tracking via a KIPR Link. The AR.Drone's two cameras are integrated directly into the user interface, so you you can also detect QR codes and use the same camera API you're already used to.

Enjoy!

Braden McDorman

Developer of the KIPR Link, KISS IDE, KIPR's 2D Simulator, and CBCJVM.

Reach me at bmcdorman(cat)kipr(dog)org where (cat)=@ and (dog)=. if you need assistance of any kind.

Jeremy Rand
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What framerate and latency are you getting for each camera? Are you getting each camera at the full resolution that the Drone provides?

-Jeremy Rand
Senior Programmer, Team SNARC (2012-2013), Norman Advanced (2010-2011), Norman HS (2008-2009), Norman North (2005-2007), Whittier MS (2003-2004)
2012-2013 VP of Tech, 2011 President, Botball YAC (2009-2013)
Mentor, Alcott and Whittier MS

Beta
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If full resolution means the VGA and CIF resolutions of the front and bottom cameras, respectively, then yes. I'll let you know in a week what the final framerate and latency are. I've been spending a lot of time optimizing the decoder and camera subsystem in general. We were able to get around 17 FPS with ~1.5 second lag using an OpenCV program directly on the device. The UI integration appears to be dramatically affecting those numbers, however, so I'm going to take a thorough look at that logic soon. The changes for the AR.Drone should have increased the USB camera's framerate about 3 FPS.

Thanks.

Braden McDorman

Developer of the KIPR Link, KISS IDE, KIPR's 2D Simulator, and CBCJVM.

Reach me at bmcdorman(cat)kipr(dog)org where (cat)=@ and (dog)=. if you need assistance of any kind.

edmyers
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Were you able to improve the lag time?

Eugene Myers
Cedarhouse Robotics

Jeremy Rand
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I'm getting 9fps and no visible lag (by eye it's less than 2 frames of lag) on the CBC using a custom library I wrote. Haven't tried on a Link yet. I may publish a GCER paper discussing how I got the lag so low (it wasn't easy).

-Jeremy Rand
Senior Programmer, Team SNARC (2012-2013), Norman Advanced (2010-2011), Norman HS (2008-2009), Norman North (2005-2007), Whittier MS (2003-2004)
2012-2013 VP of Tech, 2011 President, Botball YAC (2009-2013)
Mentor, Alcott and Whittier MS

edmyers
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I was able to get similar results with the mods I made to the KIPR drone libraries (I believe you wrote those) the week before the KIPR Open. They were functional during the KIPR Open. However, they did not play into our strategy as we ran out of time before the competition.

Eugene Myers
Cedarhouse Robotics

edmyers
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If we come this summer, I am thinking about a paper on what I did as well.

Eugene Myers
Cedarhouse Robotics

Jeremy Rand
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Nice, looking forward to seeing your paper if you do one. I'm quite curious whether we ended up doing similar things independently.

-Jeremy Rand
Senior Programmer, Team SNARC (2012-2013), Norman Advanced (2010-2011), Norman HS (2008-2009), Norman North (2005-2007), Whittier MS (2003-2004)
2012-2013 VP of Tech, 2011 President, Botball YAC (2009-2013)
Mentor, Alcott and Whittier MS

wwqmicky
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into the user interface, so you you can also detect QR codes and use the same camera API you're already used to.

raza