.. Copyright (c) 2024, NVIDIA CORPORATION. All rights reserved. NVIDIA CORPORATION and its licensors retain all intellectual property and proprietary rights in and to this software, related documentation and any modifications thereto. Any use, reproduction, disclosure or distribution of this software and related documentation without an express license agreement from NVIDIA CORPORATION is strictly prohibited. Sensors Architecture: Top-carrier Robot --------------------------------------- Introduction ^^^^^^^^^^^^ **Sensors Architecture Description** The sensor architecture adopts a modular approach to accommodate diverse use cases. In this configuration designed for flat-bed (top-carrier) AMR/AGVs, all stereo cameras support robust perception, while mono cameras facilitate teleoperation and sensor-to-sensor calibration. This architecture comprises of four stereo and four mono cameras. .. figure:: :ir_lfs:`` .. figure:: :ir_lfs:`` ======= ================== Acronym Camera Designation ======= ================== FS Front stereo BS Back stereo RS Right stereo LS Left stereo FC Front camera BC Back camera RC Right camera LC Left camera ======= ================== Stereo-vision Cameras Coverage Requirements ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Surround Coverage Requirements ****************************** ======== ================================================================================================================================================================== Req ID: Ground Visibility 27461095 Stereo camera(s) arrangement shall be able to see the ground plane from a distance of < 1m from the foremost and the back-most AMR surfaces across the AMR width. Stereo camera(s) arrangement shall be able to see the ground plane from a distance of < 1m from the leftmost and the rightmost AMR surfaces across the AMR length. .. figure:: :ir_lfs:`` ======== ================================================================================================================================================================== ======== ================================================================================================================================================================= Req ID: Combined HFOV 27461115 Stereo camera(s) arrangement shall provide 360 degrees coverage around the AMR. .. figure:: :ir_lfs:`` ======== ================================================================================================================================================================= Mounting Requirements ********************* ======== ================================================================= Req ID: Pitch Range 27461119 Any stereo camera pitch angle shall be between -10 and 5 degrees. ======== ================================================================= ======== ================================================================= Req ID: Z-range 27461136 Any stereo camera Z vertex shall be < 0.5m height. ======== ================================================================= Mono Cameras Coverage Requirements ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Surround Coverage Requirements ****************************** ======== ============================================================================================================================================================= Req ID: Ground Visibility 27461145 Camera(s) arrangement shall be able to see the ground plane from a distance if < 0.2m from the foremost and the back-most AMR surfaces across the AMR width. Camera(s) arrangement shall be able to see the ground plane from a distance < 0.2m from the leftmost and the rightmost AMR surfaces across the AMR length. .. figure:: :ir_lfs:`` ======== ============================================================================================================================================================= ======== =========================================================================================================================================================== Req ID: Combined HFOV 27461155 Camera(s) arrangement shall provide 360 degrees coverage around the AMR. .. figure:: :ir_lfs:`` ======== =========================================================================================================================================================== Mounting Requirements ********************* ======== ========================================================== Req ID: Pitch Range 27461163 Any camera pitch angle shall be between -10 and 5 degrees. ======== ========================================================== ======== ========================================================== Req ID: Z-range 27461167 Any camera Z vertex shall be < 0.5m in height. ======== ========================================================== **Sensors Mounting Example** Below is an implementation example for the camera belt. The stereo cameras' coverage is depicted in the images below: .. figure:: :ir_lfs:`` .. figure:: :ir_lfs:`` .. figure:: :ir_lfs:`` The sensors mounting locations and angles are summarized in the following table: .. table:: Stereo cameras' (Hawks) mounting locations and angles. +-----+--------+--------+-------+-------------+-----------+------------+ | | X [m] | Y [m] | Z [m] | Pitch [deg] | Yaw [deg] | Roll [deg] | +-----+--------+--------+-------+-------------+-----------+------------+ | FS | -0.017 | 0.075 | 0.344 | 0 | 0 | 0 | +-----+--------+--------+-------+-------------+-----------+------------+ | BS | -0.681 | -0.075 | 0.344 | 0 | 180 | 0 | +-----+--------+--------+-------+-------------+-----------+------------+ | RS | -0.398 | -0.15 | 0.344 | 0 | -90 | 0 | +-----+--------+--------+-------+-------------+-----------+------------+ | LS | -0.548 | 0.15 | 0.344 | 0 | 90 | 0 | +-----+--------+--------+-------+-------------+-----------+------------+ .. Note:: Hawk vertex, aligned with the left lens center, was chosen for representation of Hawk locations. Please refer to Hawk datasheet for more information. The mono cameras' coverage is depicted in the images below: .. figure:: :ir_lfs:`` .. figure:: :ir_lfs:`` .. figure:: :ir_lfs:`` The sensors mounting locations and angles are summarized in the following table: .. table:: Mono cameras' mounting locations and angles. +-----+--------+--------+-------+-------------+-----------+------------+ | | X [m] | Y [m] | Z [m] | Pitch [deg] | Yaw [deg] | Roll [deg] | +-----+--------+--------+-------+-------------+-----------+------------+ | FC | -0.01 | 0 | 0.374 | 0 | 0 | 0 | +-----+--------+--------+-------+-------------+-----------+------------+ | BC | -0.688 | 0 | 0.374 | 0 | 180 | 0 | +-----+--------+--------+-------+-------------+-----------+------------+ | RC | -0.349 | -0.157 | 0.344 | 0 | -90 | 0 | +-----+--------+--------+-------+-------------+-----------+------------+ | LC | -0.349 | 0.157 | 0.344 | 0 | 90 | 0 | +-----+--------+--------+-------+-------------+-----------+------------+ .. Note:: Owl vertex was chosen for representation of Owl locations. Please refer to Owl datasheet for more information. For reference, the AMR used in this example is shown on a 10cm x 10cm grid: .. figure:: :ir_lfs:`` .. figure:: :ir_lfs:``