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Software Requirements Perception System
Simran Cheema edited this page Jul 15, 2026
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- Real-time video for driver awareness.
- Accurate ArUco detection/pose for localization/navigation.
- Bandwidth optimizations to minimize latency.
- Support controllable camera mounts.
- FR-3.1.1 ZED2i publishes synchronized RGB + depth (point cloud).
- FR-3.1.2 All feeds support configurable resolution/frame rate.
- FR-3.1.3 Base Station UI shows feeds + network strength + stream latency.
- FR-3.1.4 Point cloud/video latency < 1 s (nominal network).
- FR-3.1.5 Support compression, resolution reduction, selective stream enable/disable.
- FR-3.2.1 At least one RGB camera on servo pan/tilt.
- FR-3.2.2 Control via joystick (arm) or Xbox (drive).
- FR-3.2.3 Enforce software motion limits.
-
FR-3.3.1 Detect ArUco; publish poses (e.g.,
/perception/aruco_pose). - FR-3.3.2 ≥95% positional accuracy at 3 m (benchmarked).
- FR-3.3.3 Publish marker ID + pose uncertainty metrics.
-
FR-3.4.1 Use
tc/netemor equivalent to simulate bandwidth/latency. - FR-3.4.2 Sim feeds compatible with RViz/Gazebo.
- FR-3.4.3 Scripted test for detection, latency logging, stream-switch stability.
-
FR-3.5.1 Central
perception.yaml: topics, frame IDs, image transport modes, etc. - FR-3.5.2 Presets for exposure/white balance (indoor/outdoor).
| ID | Type | Requirement |
|---|---|---|
| NFR-3.1 | Performance | Video latency < 1 s; ArUco frames processed ≤ 200 ms. |
| NFR-3.2 | Reliability | Camera/perception nodes operate ≥ 2 hours. |
| NFR-3.3 | Usability | UI switches camera feeds within ≤ 2 s. |
| NFR-3.4 | Testability | Validate against benchmark datasets and physical marker tests. |
- Point cloud/video latency < 1 s.
- All feeds visible and useful during driving.
- ArUco at 3 m: ≥95% success, ≤ 5 cm position error.
- Camera mount driver-controllable; respects limits.
- Sim tests validate network performance pre-deployment.