UGV Devkit - Vision Extension

Revision History

Revision

Date (DD/MM/YYYY)

Author

Changes

1

10/08/2024

WR Dev Team

Initial release

This sensor kit or extension module for the UGV development kit provides a layer to install multiple types of cameras, namely the Intel® RealSense™ Depth camera as well as an RGB camera. It is designed to provide a base for teleoperation function as well as improved perception ability for your set up.

This kit consists of a Base Module where different camera types can be mounted in various combinations to the development kit. The camera modules are shown in the image below;

../../_images/base_module.png ../../_images/camera_modules.png

Key Specifications

  • Intel® RealSense™ D435i Depth camera

    • Camera module: Intel RealSense Module D430 + RGB Camera

    • Vision processor board: Intel RealSense Vision Processor D4

    • Image sensor technology: Global Shutter

    • Ideal range: 0.3 m to 3 m

    • Depth

      • Depth technology: Stereoscopic

      • Minimum depth distance (Min Z) at max resolution: ~28 cm

      • Depth Accuracy: less 2% at 2m

      • Depth Field of View (FOV): 87° × 58°

      • Depth output resolution: Up to 1280 × 720

      • Depth frame rate: Up to 90 fps

    • RGB

      • RGB frame resolution: 1920 × 1080

      • RGB frame rate: 30 fps

      • RGB sensor technology: Rolling Shutter

      • RGB sensor FOV (H × V): 69° × 42°

      • RGB sensor resolution: 2 MP

  • RGB USB Camera

    • RGB camera (2.0mp)- with tilt function to adjust angle of lens

    • Sensor specification: 2.7inch

    • Frame rate: Up to 30fps

    • Resolution: Up to 1920 x 1080

    • Sensor FOV: 135°

    • Video Codec(s): MJPG, YUY2, H.264

    • Image sensor technology: Electronic rolling shutter/ Frame exposure

    • Operating voltage: 5V (USB 2.0 connection interface)

As this is a modular kit, there are multiple configurations available for this kit.

There are a total of 4 compartments in the Base Module, in which either camera module can be installed.

Please refer to the images below for more information.

../../_images/orientation_of_modules.png

Reference Frames

The reference frames for the cameras follow the Right Hand Rule convention and are point cloud-centric frames of reference. They also follow Robotics convention with the X-axis pointing forwards.

The Cartesian coordinates O-XYZ of the components are defined as below: Point O of the Top Plate is the origin, and O-XYZ is the point cloud coordinates of the module.

../../_images/ref_frame_vision.png

Relationship between sensors

Taking the Top Plate as the reference link for this extension, the relative position of both cameras are provided in the table below based on the different possible configurations:

../../_images/vision_kit_relative_position_table.png

Note

More information on the D435i Depth camera can be found here