Connected System Flow

Architecture Block Diagram

How physical sensor inputs traverse on-chip neural networks, spatial coordinate transforms, and real-time multi-modal feedback loops.

// 01. SENSOR SUITE & PHYSICAL INPUTSI2C / MIPI / USB 3.0

OAK-D Pro WVision

150° Wide FOV active-stereo cameras + IR dot projector for textureless surfaces and dark corridors.

6-Axis IMUInertial

High-rate angular velocity & linear acceleration providing continuous tracking during head rotation.

I2S MEMS MicAudio

60Hz–15kHz flat microphone capturing natural-language destination commands ("Find an open seat").

// 02. ON-CHIP VPU ACCELERATION (Intel Myriad X)Direct Hardware Pipeline

Spatial YOLOv8n Network25-30 FPS

Executes directly inside the camera VPU. Crops the 3D bounding box ROI and fuses with stereo depth disparity to yield metric (X, Y, Z) coordinates.

Stereo Matching & Depth AlignmentSubpixel

Active-stereo disparity map aligned directly with the RGB optical center (CAM_A socket) with median 7x7 spatial filtering.

// 03. HOST BRAIN & SPATIAL FUSION (Raspberry Pi 5)Host OS & Python Core

Spatial Threat Engine<1.0m Critical

Extracts polar azimuth and classifies obstacles into CRITICAL, WARNING, and SAFE proximity corridors.

V-SLAM / OdometryWorld Map

Maintains head transformation pose. Anchors local 3D centroids into persistent global map frames to avoid previously seen obstacles.

SayCan Task RouterHybrid LLM

Executes quantized edge models locally for immediate reflex queries; offloads complex natural-language tasks to cloud APIs.

// 04. MULTI-MODAL USER ACTUATIONHaptic / Optical / Acoustic

5-Point Forehead HapticsDRV2605L

5 LRA coin motors (L2, L1, MID, R1, R2) delivering directional tactile taps to physically pull user attention away from obstacles.

Birdbath AR HUD1080p OLED

Micro-OLED projects a glowing green walking spline onto the real-world floor via optical combiner prism (black = transparent).

Open-Ear Bone ConductionMAX98357A

Transducers rest on cheekbones to provide voice feedback without covering the ear canal or blocking ambient situational sounds.