OnPointTM Onboard Vision Processing Unit (VPU)

OnPointTM Onboard Vision Processing Unit (VPU)
OnPoint T M Onboard
Vision Processing Unit (VPU)
Procerus VPU 1.0
VPU:
2" x 1.34" x 0.44"
11.6 grams
5 Megapixel Camera
(Procerus Digital Gimbal)
1.3” x 0.9” x 0.6”
9.2 grams
FEATURES
Grabs standard definition video frames from analog or digital
camera(s)
High-resolution image capture
- Capture at 1 Hz (theoretical 15 Hz maximum @ 5
megapixel)
- JPEG compressed
- Store to onboard SD card
Very Small Size, Weight, and Power
Analog video output with optional text overlay
Automatic Electronic Pan/Tilt/Zoom of 5 megapixel imager for
keeping eye on target reliably
Capable of receiving and processing high-rate telemetry (25
Hz) from Kestrel autopilot
Based on the OMAP3530 dual processor System-on-Chip
600 MHz ARM processor, 430 MHz DSP
Up to 512 MB NAND Flash for nonvolatile storage
Up to 256 MB POP RAM memory
Flash File System support (solid state hard drive)
Up to 600 Hz gyro sample rate (gyros available on imager or
as separate stand-alone hardware)
Fast Micro SD Read/Write
USB OTG 2.0 (Host or Slave)
Two serial ports
General Purpose/SPI connection
Multi-camera support available as an add-on
Software SDK Available (Purchased Separately)
External Control Interface for controlling Kestrel autopilot
available for recent Kestrel 2.x firmware
Ethernet and RS232 DB-9 expansion interface available
(Purchased Separately)
Onboard Vision Capabilities: (Optional add-on)
- Gyro- and Vision-based stabilization of video
- High-quality target tracking (interactive with Virtual Cockpit
3D's video window)
- Track-centered rendering to aid in target designation
- Track nudge capability to easily refine target position
- Geo-location of target coordinates
- Augmented Reality indicators of inertial points in video
window
Terminal Guidance: (Optional add-on)
- Proven ground-target prosecution capabilities
- Solutions for tracking and engaging moving targets can be
developed for individual customer needs
www.procerus.com
DESCRIPTION
The Procerus OnPoint Vision Processing Unit (VPU) is a very
compact, highly capable onboard vision platform capable of
capturing video and still imagery from analog video cameras and
custom-built digital cameras. The VPU is a self-contained micro
computer with both an ARM core and a DSP core, providing a very
capable platform for performing onboard vision algorithms with very
low latency. The VPU provides convenient connections for analog
and digital cameras as well as common peripherals such as USB
OTG and microSD for non-volatile data storage. The VPU
complements the Kestrel autopilot and works in conjunction with the
Virtual Cockpit 3D software.
APPLICATIONS
Onboard Vision Processing on micro UAS
Video Stabilization and Target Tracking
Synchronized video and metadata
Capture and store high-resolution imagery
Interface with and control electronic pan/tilt/zoom camera(s)
Easily use inline with existing analog video transmission equipment
Gyro-stabilized camera
Target geo-location
Target prosecution (terminal guidance)
All Rights Reserved. 801-224-5713
OnPoint Onboard VPU
OnPoint Onboard VPU v1.0
Video Capture (SD analog and 5 megapixel digital)
Integration with Procerus Kestrel Autopilot and VC3D
The VPU is a robust vision processing computer with integrated
hardware and drivers for capturing standard-definition analog
video or capturing sub-regions of a 5 megapixel imager. When in
video mode and connected to the Procerus Digital Gimbal, the
VPU captures high-quality video at standard definition resolution.
Its ability to electronically pan, tilt, and zoom without sacrificing
output resolution makes the OnPoint Onboard system a
sophisticated payload. The digital gimbal provides 4 discrete
zoom levels, and when zoomed in by at least one level, the VPU
will automatically pan and tilt to keep a target centered in the
video window despite ego-motion of the camera. The camera
interface was designed to be modular so that other cameras can
be connected to the VPU in a seamless manner to suit individual
project needs. A serialized hardware interface is available to
extend the distance between the VPU and imager. A mux board
is also available to allow dynamic switching between two imagers
connected to a single VPU.
Vision-based Stabilization and Targeting
With the full OnPoint Onboard software suite, video is stabilized
using both sub-region shifting in the CCD and software vision
stabilization. Gyros on board the camera aid the vision
stabilization and tracking solution. Low-latency, synchronized
telemetry from a connected autopilot allows for high geo-location
accuracy and highly effective autopilot control for improved
terminal guidance. By operating on uncorrupted, un-transmitted
video, the vision tracker is greatly enhanced and able to stay
locked on with little to no user interaction. Vision-based target
localization allows the user to obtain GPS coordinates of desired
ground targets to within 5m or less. The targeting system can be
optimized for stationary, pedestrian, or vehicle targets.
The OnPoint Onboard VPU has been integrated with the Kestrel
autopilot and Virtual Cockpit 3D in a tight-knit system. A user
simply configures the Kestrel autopilot to communicate with the
VPU and connects the VC3D video window to the VPU's video
feed. Tracks can then be started, stopped, and adjusted by
clicking in the video window or through keyboard or joystick
interfaces. Terminal guidance capabilities (available as a
purchased add-on) are greatly enhanced and user interaction is
made simple. The VC3D ground station has been optimized for
utilization on a single window, but the video and configuration
windows can be moved to separate monitors when desired.
High-resolution Image Capture
When used in conjunction with a Procerus Digital Gimbal, the
VPU can capture full-frame 5-megapixel images and store these
to non-volatile media with corresponding metadata. Images can
be captured at approximately 1 Hz, though greater speeds are
theoretically possible. Images are normally JPEG compressed
before storage, but RAW images can also be captured. The
Micro-SD slot allows for nonvolatile removable media up to 32
GB in size, so thousands of images can be captured and stored.
Data Logging
Since the VPU regularly receives high-rate video synchronized
telemetry from the Kestrel autopilot, it is an ideal system for
logging data from the Kestrel. Under normal operation of the
VPU, if an SD card is plugged in, it will store data logs containing
essential information collected from the autopilot at 25-30 Hz.
Video can also be collected in raw (uncompressed) format and
stored to SD card with the data time stamped to match up the
video and telemetry in post-processing.
Gimbal Support:
The VPU can drive mechanical gimbals (like the BTC 88-R)
using the targeting information collected onboard the vehicle. If
the VPU camera is packaged in a mechanical turret, the user can
lock on to a target and use both mechanical and digital means of
panning and tilting the image. This hybrid gimbal approach
provides steady footage of the target since it is able to very
quickly respond to ego-motion of the vehicle and motion of the
target.
Figure 1: The VPU Settings window in VC3D allows users to easily
configure settings on the VPU while in flight.
2
www.procerus.com
All Rights Reserved. 801-224-5713
OnPoint Onboard VPU
ABSOLUTE MAXIMUM RATINGS
Input Supply Voltage .............................................. 4.8V to 5.2V
Maximum Current (VPU only)........................... 600mA @ 5.0V
Operating Temperature Range .............................. 0ºC to 80ºC
only; functional operation of the device at these or any other
conditions above those indicated in the operational section of this
specification are not implied. Exposure to absolute maximum rating
conditions for extended periods may affect device reliability.
Stresses above those listed under the Absolute Maximum Ratings
may cause permanent damage to the VPU. This is a stress rating
OPERATING CHARACTERISTICS
Parameter
Power (PWR)
Input Voltage Range (Vin)
Quiescent Supply Current
Operating Current (no digital camera)
Operating Power (no digital camera)
Operating Current (with 1 digital camera)
Operating Power (with 1 digital camera)
Payload POWER (Over 30-pin ribbon for camera)
3.3V Source
Supply Current
Serial Ports
Logic High
Logic Low
Current (Sink & Source)
SPI/GPIO Logic Levels
Voltage
Dimensions
Accuracy
Weight
Accuracy
Conditions
Min
Typ
Max
Units
4.8
5.2
Camera Pixel Clock @ 73.2 MHz
Camera Pixel Clock @ 73.2 MHz
5.0
350
350
1.75
530
2.65
2.9
V
mA
mA
W
mA
W
@ 3.3V
3.3
225
250
V
mA
0.4
6.8
V
V
mA
Vin @ 5V
Vin @ 5V
2.0
2.3
1.8
2 x 1.34 x 0.44
±0.5
11.6
±4
V
inches
%
grams
%
PERIPHERAL OVERVIEW
The following figures show top and bottom views of the OnPoint Onboard VPU hardware:
SK7: 3-pin
SK6: 3-pin
J3: Micro SD
SK1: 6 pin
J2:40-pin
SK5: 2 pin
J4: 30-pin
www.procerus.com
SK3: 10-pin
J1: USB mini A-B
All Rights Reserved. 801-224-5713
3
OnPoint Onboard VPU
PORT FUNCTIONS
The following table describe the use of each peripheral port (see picture on previous page for hardware locations).
Port
Description
J1
USB mini A-B port. Not currently supported (Future)
40-pin ribbon connector for Ethernet expansion. The expansion board also overrides the TTL level
serial ports and replaces them with RS232 level serial ports with DB-9 connectors. If the
expansion board is plugged in, the TTL serial level ports will not operate properly and the RS232
level equivalents should be used exclusively. Contact Procerus for pin-out.
Micro SD Connector for removable storage (supports SDHC cards up to 32 GB)
Camera 30-pin ribbon connector. Pin-out included below. 5 Megapixel camera is supported.
Other cameras could be interfaced over this connector. (Future work dependent on client needs)
6-pin TTL-level serial ports. See pin-out below. Both serial ports are configurable, but generally
Port 1 is connected to the Kestrel autopilot for telemetry and control and port 2 is used as a control
terminal.
10-pin Molex connector containing SPI signals (for connecting to camera gyros) and several GPIO
lines
Input Power connector: Requires 5-Volt input (Do not exceed maximum input voltage!)
Analog video output port. Generally configured for NTSC Composite Video output (CVBS). Can
be configured for S-video and PAL (Requires software customization)
Analog Video Input. Generally this is mutually exclusive with the digital camera input port. See
pin-out below
J2
J3
J4
SK1
SK3
SK5
SK6
SK7
SK1: Serial Ports
(two ports in one)
Pin
1
2
3
4
5
6
4
Description
GND
PWR (3.3V output)
VPU TX1
VPU RX1
VPU TX2
VPU RX2
SK3:
10-pin SPI/GPIO header
Pin
1
2
3
4
5
6
7
8
9
10
SK5:
Input Power Connector
Description
GND (Black)
Volt, 3.3 V (Red)
GPIO, 1.8V (Future Use)
GPIO, 1.8V (Future Use)
GPIO, 1.8V (Future Use)
GPIO, 1.8V (Future Use)
SPI1 CS0, 1.8V (Orange)
SPI1 MISO, 1.8V (Yellow)
SPI1 MOSI, 1.8V (Green)
SPI1 CLK, 1.8V (Yellow2)
www.procerus.com
Pin
1
2
Description
GND (Black)
PWR (5V)
All Rights Reserved. 801-224-5713
Analog Video Ports
(SK6 and SK7)
Pin
1
2
3
Description
GND
Not used
(S-video=PbPr)
CVBS Video Signal
(S-video=Y)
OnPoint Onboard VPU
J4: 30-PIN CAMERA CABLE PINOUT
Pin #
1
2
3
Name
nSTANDBY
TRIGGER
nRESET
Function
Standby. Active Low. When asserted, chip enters low-power standby mode
Snapshot trigger.
When LOW, sensor resets all settings. When HIGH, resumes normal
operation.
4
OEB
5
OEA
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
GND
D0
D1
D2
VCC
D3
D4
GND
EXTCLK
PIXCLK
GND
D5
D6
VCC
D7
D8
D9
GND
OEC
25
26
LINE_VALID (HCLK)
FRAME_VALID (VCLK)
27
28
29
30
VCC
SDATA
SCLK
GND
OEA, OEB, OEC used for determining which sensor is currently active.
Interface TBD.
OEA, OEB, OEC used for determining which sensor is currently active.
Interface TBD.
Common Ground.
Parallel Pixel Output D[0:9]. Lowest significant data bit.
Parallel Pixel Output D[0:9].
Parallel Pixel Output D[0:9].
Input power: must be between 2.85 Volts and 3.35 Volts.
Parallel Pixel Output D[0:9].
Parallel Pixel Output D[0:9].
Common Ground.
External Clock Input: Normally 36 MHz. Consult Procerus for details.
Pixel Clock Output: data bits are clocked out relative to the pixel clock.
Common Ground.
Parallel Pixel Output D[0:9].
Parallel Pixel Output D[0:9].
Input Power, same as Pin 10.
Parallel Pixel Output D[0:9].
Parallel Pixel Output D[0:9].
Parallel Pixel Output D[0:9]. Most significant data bit.
Common Ground.
OEA, OEB, OEC used for determining which sensor is currently active.
Interface TBD.
Driven HIGH with active pixels of each line. LOW during blanking intervals.
Driven HIGH during active pixels and horizontal blanking. LOW during
vertical blanking.
Input Power, same as Pin 10.
Serial data for two-wire interface.
Serial clock for two-wire interface.
Common Ground
Notes:
See Procerus Digital Imager Technical Reference Sheet for additional information.
www.procerusuav.com
801-224-5713
5
OnPoint Onboard VPU
RELATED PARTS
Part Number
PRT-OP-ONB-I30
PRT-OP-ONB-X30
PRT-OP-ONB-010
PRT-OP-TSG-P01
PRT-OP-TRG-P01
Manufacturer
Procerus
Procerus
Procerus
Procerus
Procerus
Description
OnPoint OnBoard - Vision Suite w/imager
OnPoint OnBoard - Vision Suite w/o imager
OnPoint OnBoard - VPU only
Tracking, Stabilization, Geo-location, Click n fly
Terminal Guidance Plug-in for OnPoint Onboard
PRT-OP-SDK-001
PRT-OP-SDK-KT1
PRT-OP-SDK_SW1
PRT-OP-MUX-01
52437-3072
Procerus
Procerus
Procerus
Procerus
Molex Connector
Corporation
OnPoint VPU SDK: API's, 5 MP Camera, VPU
Case-mounted kit with all necessary cables for desktop use
OnPoint VPU SDK, Software only
MUX Board for added camera and serialization support
30-pin Bottom Contact FPC Ribbon Cable Receptacle, 0.020”
Pitch, Surface Mount, Right Angle
Comments
Software upgrade, locked to hardware
Software upgrade, subject to ITAR
restrictions
NDA and licensing agreement required
NDA and licensing agreement required
These are used on the PDG itself for
the two 30-pin cable receptacles. The
VPU has a corresponding 30-pin
receptacle which is a top-contact part.
Part numbers that begin with PRT are products offered by Procerus Technologies. For all other parts, a list of distributors
that carry these parts may be found on the manufacturers' web site.
6
www.procerus.com
801-224-5713
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