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Unread 21-01-2014, 21:58
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Re: Yet Another Vision Processing Thread

Quote:
Originally Posted by yash101 View Post
Yeah. each XU's got some power! I actually think an XU is more powerful than my laptop, with an i3-2367m! I however only get ~2400BMIPS processing speed in Ubuntu

Not only will the wiring be hairy, the computers will draw just a ton of current, so batterywork will not be fun!

By the way, the D'Link only has 4 ethernet ports. Are you guys going to have an extra switch on the bot to give you more ports? I think you'll have 120lbs of computer, not of robot, aluminum and other important robot stuff!

Think wisely of what you will lose by having so many onboard computers!
Considering each XU weighs about 150 grams tops, if we use 4 that is 600 grams or 1.32 lbs. The genius 120 weighs 82.0 grams. Times that by 3 and we are at 246 g. That puts out total weight of our vision system at 1.86 pounds not including wires weight. The Kinect weighs at least a pound. So we really aren't that much different that last year. 2 years ago on our custom build computer, our vision system weighed over 6 pounds. Weight will not be an issue.

I know the XU has power, but when I tested for the 3 genius 120 cameras, the fps dropped to 25 when all I was doing was grabbing the image and displaying it. Last year the slowest the vision algorithm ran during a match was 27 fps.

We are sending all of our data into a program that will be running on one of the boards that calculates our xy position and yaw given how far away we are from the targets that we see. If I only see one, I will do a pose calculation to get xy field location and yaw. Then, the xy coordinate and yaw gets sent to the cRIO. So, We only need to send data from 1 XU to the labview side of things. The XU has an IO connector, so we can have the boards communicate through that.
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