Here are some images of the initial prototype infrared stereo vision system.
I am not quite sure why the 3D printer made the weird pattern on the front.
Here is the view from the back, the eyebrow holes are designed to hold IR LEDs for illumination.
One of the goals of this system is to be able to detect windows by using the IR reflection off of the glass. The glare from one LED seems sufficient to detect a window.
For sensor calibration it would be useful to be able to calibrate a laser scanner against the vision system. The laser scan line from a Hokuyo laser is not quite visible enough for automatic calibration. I'll try against a SICK laser later this week.
If the fluorescent lights are on, the cameras become somewhat over saturated. I am probably going to try building a rotary filter system to swap an IR notch filter and an IR band pass filter.
The ultraviolet LEDs I ordered came in today so I'll be testing those soon.
First flight with APM complete
2 hours ago