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AVise
Beginner
1,037 Views

Inter-UAV collision avoidance

Hi

We're planning to develop an inter-UAV collision avoidance system for outdoors, based on a Real Sense.

I've have seen that the straight forward way of doing that is using the Aero Platform. Here, I have a couple of questions:

  1. What is the depth range for outdoors? I know that it may depend on many different conditions like lightning... Nevertheless, it would be interesting to know what would be the maximum distance with which an UAV can detect another UAV under the assumption that they are high on the air and the UAVs could only see either sky or another UAV.
  2. Does Intel provide a functionality in the SDK that calculates the distance to the closes obstacle?

In addition, there exist another Real Sense systems apart from the Aero, which offer a higher depth range according to specifications. Here a question:

  1. For our specific application, would you recommend any of the other Real Sense systems better than the Aero?
  2. If not, could you summarize what you see as the main advantages of using Aero?

Thanks.

Best

Alberto

0 Kudos
4 Replies
MartyG
Honored Contributor III
39 Views

1. The data sheet for the RealSense R200 camera, obtained from the Vision Accessory Kit information page, lists the depth tracking range as between 0.4 m and 2.8 m.

2. As the Librealsense SDK is used with Aero, a 'Projection' type instruction could be used to determine the depth distance between the camera and an object.

https://github.com/IntelRealSense/hand_tracking_samples/blob/master/third_party/librealsense/doc/pro... hand_tracking_samples/projection.md at master · IntelRealSense/hand_tracking_samples · GitHub

Librealsense has some sample scripts for streaming depth. Full details of the Librealsense samples can be found on the Developer Guide page (linked to below). Go down to the very bottom of the page and then scroll up to the 'SAMPLES' heading to find the information.

https://software.intel.com/sites/products/realsense/camera/developer_guide.html Intel® RealSense™ Cross Platform API (librealsense): Developer's Guide

This link may also be useful to you regarding the question of working out the distance between camera and object.

Here's the link to the R200 data sheet:

https://software.intel.com/sites/default/files/managed/d7/a9/realsense-camera-r200-product-datasheet... https://software.intel.com/sites/default/files/managed/d7/a9/realsense-camera-r200-product-datasheet...

Regarding RealSense cameras with higher specification than the R200: super-powerful new D415 and D435 models that were designd with drones, robotics and autonomous vehicles in mind are on their way. They are not caseless like the Vision Accessory Kit's R200 though, so if it were possible to attach them to a drone then the drone would have to be thought of as being more like a flying robot. These cameras have also not been validated for use with Aero, of course.

https://software.intel.com/en-us/realsense/d400 Overview of the Intel® RealSense™ Depth Camera | Intel® Software

AVise
Beginner
39 Views

Thanks a lot MartyG!

  1. Do you know when the D-models will be released?
  2. Also, have the D-models cameras been tested with drones?
  3. Are you aware of any open source code that employs real sense for collision avoidance; either for obstacles or inter-robot?

Thanks!

Best

Alberto

MartyG
Honored Contributor III
39 Views

1. There is not a definite release date for the D-camera at the moment. They are listed as "coming soon" and then should be available for pre-order on the Intel Click online store. Until then, you can click a 'Notify me' button to be kept up to date with release news about these models.

https://click.intel.com/realsense.html Intel® RealSense™ Developer Kits

2. Though they were designed with drones in mind, I do not know what internal testing with drones that they have undergone so far. Suitability for drones was first mentioned in the context of a demonstration of the caseless camera module board, so I would expect that this module will be orderable from Intel Approved Distributor companies such as Mouser and Arrow. The bare board would certainly be the most suitable lightweight form-factor for a drone, rather than attaching the full cased Developer Kit camera.

Here's a video interview from a year ago with an Intel employee that shows the bare module.

https://www.youtube.com/watch?v=pvXJSn22ujU Intel RealSense 400 for self-driving cars, autonomous drones, Robots, for indoor and outdoor use - YouTube

There's another video from the same conference that demonstrates depth-tracking a street from a car in motion in real-time using the 400 Series, representing the kind of view that a drone using the camera might have I've set up the link to begin at the relevant part of the video.

https://www.youtube.com/watch?v=2BIxXn0DIK0&t=968s# t=26m30s Intel presents RealSense™ at the IDTechEx Show!: From 3D Printing to Drones - YouTube ...

3. I would recommend Dronecode PX4 autopilot firmware, which is shipped on Intel's own "Ready To Fly" drone kit.

http://px4.io/ Open Source for Drones - PX4 Pro Open Source Autopilot

The Dronecode wiki site has a RealSense installation section.

https://dev.px4.io/en/advanced/realsense_intel_driver.html https://dev.px4.io/en/advanced/realsense_intel_driver.html

AVise
Beginner
39 Views

Thanks a lot for the detailed info! I'm looking forward to play with the D-camera!