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[P0] Camera power modes — adaptive sensor management across scenarios #375

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opened 2026-03-03 16:39:29 -05:00 by seb · 0 comments
seb commented 2026-03-03 16:39:29 -05:00
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Goal

Dynamic camera/sensor activation based on scenario. Not all cameras need to run all the time.

5 Power Modes

FULL (all eyes) — street crossing, high-speed >15km/h

All 4 CSI + RealSense + LIDAR + UWB. Max awareness. ~1.55GB RAM.

ACTIVE (front+rear) — sidewalk, bike path, 5-15km/h

Front+Rear CSI + RealSense + LIDAR + UWB. ~1.15GB RAM.

AWARE (front only) — indoor, supermarket, <5km/h

Front CSI + RealSense + LIDAR. ~850MB RAM.

SOCIAL (chill) — parked, socializing

C920 webcam only + face UI. ~400MB RAM.

SLEEP (charging) — minimal power

1 CSI at 1fps or nothing. Wake on UWB/touch/voice. ~150MB RAM.

Automatic Transitions

SLEEP -> SOCIAL -> AWARE -> ACTIVE -> FULL
Based on: speed, intersection detection, Tee movement, idle time
CROSSING always forces FULL. EMERGENCY forces FULL + speed reduction.

Key Safety Rules

  • Rear CSI is a SAFETY sensor at speed — detects approaching traffic
  • Street crossing: ALL cameras mandatory, do NOT cross if unsafe (wait at curb)
  • Side CSIs activate at intersections, dormant on straight paths
  • Any sensor failure -> reduce speed + increase following distance

Full design doc

projects/saltybot/CAMERA-STRATEGY.md

Depends on

  • #363 Person tracking
  • #364 LIDAR integration
  • #366 Follow-me controller
  • CSI cameras working (cables arriving)
## Goal Dynamic camera/sensor activation based on scenario. Not all cameras need to run all the time. ## 5 Power Modes ### FULL (all eyes) — street crossing, high-speed >15km/h All 4 CSI + RealSense + LIDAR + UWB. Max awareness. ~1.55GB RAM. ### ACTIVE (front+rear) — sidewalk, bike path, 5-15km/h Front+Rear CSI + RealSense + LIDAR + UWB. ~1.15GB RAM. ### AWARE (front only) — indoor, supermarket, <5km/h Front CSI + RealSense + LIDAR. ~850MB RAM. ### SOCIAL (chill) — parked, socializing C920 webcam only + face UI. ~400MB RAM. ### SLEEP (charging) — minimal power 1 CSI at 1fps or nothing. Wake on UWB/touch/voice. ~150MB RAM. ## Automatic Transitions SLEEP -> SOCIAL -> AWARE -> ACTIVE -> FULL Based on: speed, intersection detection, Tee movement, idle time CROSSING always forces FULL. EMERGENCY forces FULL + speed reduction. ## Key Safety Rules - Rear CSI is a SAFETY sensor at speed — detects approaching traffic - Street crossing: ALL cameras mandatory, do NOT cross if unsafe (wait at curb) - Side CSIs activate at intersections, dormant on straight paths - Any sensor failure -> reduce speed + increase following distance ## Full design doc projects/saltybot/CAMERA-STRATEGY.md ## Depends on - #363 Person tracking - #364 LIDAR integration - #366 Follow-me controller - CSI cameras working (cables arriving)
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Reference: seb/saltylab-firmware#375
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