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mit-aera / FlightGoggles

A framework for photorealistic hardware-in-the-loop agile flight simulation using Unity3D and ROS. Developed by MIT AERA group.
http://flightgoggles.mit.edu
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Untethered Rendering #18

Closed nominator closed 5 years ago

nominator commented 5 years ago

First of all really loved seeing a creative solution to a very important problem. Enabling to experiment in the lab which is almost as if you are doing field test on real drones. Kudos to the team!

I think most remarkable feat of FlightGoggles is its ability to render images so quickly and push these to the drone for onboard processing. Many of the leading VR HMDs in the market (Vive and Rift) still have to tether the headsets with a host machine to be able to deliver the VR content in real-time.

Can you please shed some light how you were able to achieve this untethered? What's the overall latency? is it enough for the drone to avoid oncoming obstacles?

Winter-Guerra commented 5 years ago

Due to constraints with current transmission technology, we do first stage image processing on a ground station computer and send the resulting sparse image representation to the drone. For VIO tests, we only send the image features to the drone.

Current technology does not allow for low latency multi gigabit wireless connection. Our current setup has about 23ms latency. This is sufficient for high speed agile flight in a dense environment.

On Mon, Jan 21, 2019, 14:23 Nouman notifications@github.com wrote:

First of all really loved seeing a creative solution to a very important problem. Enabling to experiment in the lab which is almost as if you are doing field test on real drones. Kudos to the team!

I think most remarkable feat of FlightGoggles is its ability to render images so quickly and push these to the drone for onboard processing. Many of the leading VR HMDs in the market (Vive and Rift) still have to tether the headsets with a host machine to be able to deliver the VR content in real-time.

Can you please shed some light how you were able to achieve this untethered? What's the overall latency? is it enough for the drone to avoid oncoming obstacles?

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nominator commented 5 years ago

Thanks for the response. This indeed is a smart way to handle a very tricky problem.