SARCAM v2 (2024)

Main camera

Starting 2024, newer SARCAM design variants intend to use the off-the-shelf rugged camera components as subsystems.

Such sensor devices are integrated platforms, typically provide hybrid hardware-/software-based image stabilization, including a 2-axis gyroscope, thermal imaging capabilities, talking the ONVIF protocol, and emit H.265/H.264/MJPEG video streams.

As a truly important benefit, out of reach for DIY solutions, it is all wrapped up into an IP67 waterproof and anti-corrosion marine rated appliance.

Perimeter cameras

Instead of using a single camera for distance- and near-field monitoring, the system now uses multiple cameras to cover the perimeter of the rescue ship. Those are also off-the-shelf camera modules with RGB and thermal capabilities, and ONVIF interface.

System overview

A very much high-level picture.

%%{ init: { 'theme': 'base', 'themeVariables': { 'lineColor': '#F8B229', 'tertiaryColor': '#fff' } } }%% flowchart LR subgraph system[Architecture of SARCAM] direction LR subgraph sensors[Sensors] subgraph maincamera[Main camera] RGB+Thermal end subgraph perimeter-cameras[Perimeter cameras] Bow Stern Port Starboard end end subgraph network[Network] video{H.265, ONVIF} control{message and\ncontrol channel} end subgraph backend[Backend] ROS>ROS robotics\nmiddleware suite] end subgraph cockpit[Cockpit] GTK[GTK user interface:\nVideo, Database, Control] end %% Wiring sensors <--> network backend <--> cockpit video --> ROS control <--> ROS end

Architecture of SARCAM