1. CARVER² : Final presentation
The Car Vision-Enabled Robot Racer
Nicolas Lavelaine de Maubeuge

2. The mission Initial strategy
Difficult to see both beacons at the same time
The new plan
Reduced CPU load
More robust

3. Electrical architecture of the system

4. Software architecture of the system

5. The Master node, details

6. Problems encountered and solutions
Originally planned to use two PS3 eyes with gimbals : Tracking speed insufficient
The color to look for slightly changes between two scenes, as well as the exposure.
Video feedback for debugging while running not possible at this speed
Replaced the two mobile PS3 eyes by a single Raspberry Pi Camera, which allows 30 Fps capturing with the V4L2 Driver
Designed a GUI calibration tool
Recorded the video and performed post-test debugging

7. Results

8. https://docs.google.com/presentation/d/15zkHquLabObWLxPGCcWxLDR9ZmAgyXdSCzL-CN0aV0o/edit?usp=sharing