System Level Diagram - Vision

Summary

The Navigation subsystem is responsible for the following functions:

• locate the light and pipe
• provide coordinates to help the submarine follow the pipe
• Locate the center of the bin

The above tasks are accomplished using the CMUcam 2 cameras. CMUcam cameras have built in object tracking functions that are useful for accomplishing the vision subsystems tasks.

The functions return x and y coordinates of the tracked object, together with other useful information such as number of pixels and the confidence of the tracked object. This information is relayed to Command and Control to be further processed.

Since the cameras are not waterproof, they are housed in waterproof camera housings. These camera housings are modified so that they can be mounted to the submarines frame using 80/20 parts. Attaching water meatable connectors also modifies the camera housings so that the cameras can draw power and communicate with Command and Control.