Pilot Operations Guide: Task 1.2 — Coral Garden Ridge Modelling

Competition: MATE 2026 Explorer — Task 1.2 Option A (Photogrammetry): up to 40 points Option B (Manual CAD): up to 30 points You can attempt BOTH and take whichever scores higher.

Scoring Breakdown

Option A: Autonomous Photogrammetry (up to 40 pts)

Step	What you do	Points	Judge interaction
A1. 3D Model	Generate a photogrammetry model showing the colored target squares	5-20 pts (see below)	Judge rotates the model on screen
A2. Measure Length	Physically measure the coral garden length with the ROV	10 pts (within 5 cm)	Show judge your method — no guessing allowed
A3. Scale Model	Enter the true length into the system, display it on the 3D model	5 pts	Judge sees the true length displayed on the model
A4. Estimate Height	Use the scaled model to digitally estimate the height	5 pts (within 5 cm)	Judge sees the height displayed on the model

3D Model quality scoring (Step A1):

Targets visible in model	Points
All 8 colored squares	20
4 to 7 squares	15
1 to 3 squares	10
0 targets (but model exists)	5

Option B: Manual CAD (up to 30 pts)

Step	What you do	Points	Judge interaction
B1. Measure Length	Physically measure with ROV	10 pts (within 5 cm)	Show judge your method
B2. Measure Height	Physically measure with ROV	10 pts (within 5 cm)	Show judge your method
B3. Create 3D Model	Input both measurements into CAD, generate model with dimensions shown	10 pts	Judge sees three rectangular prisms with length + height labels

The Gated Flow

┌─────────────────────────────────────────────────────┐
│  STEP 1: Measure the length (both options need this) │
│                                                       │
│  Pilot measures length with ROV tools                │
│  → Tell judge your measurement + explain method       │
│  → Judge awards 0-10 points                          │
│  → Judge gives you the TRUE LENGTH                   │
│                                                       │
│  ⚠ If you don't attempt this, you get NO true length │
│    and cannot complete any remaining steps!           │
└───────────────────────┬─────────────────────────────┘
                        │
           ┌────────────┴────────────┐
           ▼                         ▼
   ┌───────────────┐       ┌─────────────────┐
   │  OPTION A      │       │  OPTION B        │
   │  Photogrammetry│       │  Manual CAD      │
   │                │       │                  │
   │  Enter true    │       │  Measure height  │
   │  length →      │       │  with ROV →      │
   │  scale model → │       │  enter both →    │
   │  get height    │       │  generate model  │
   │                │       │                  │
   │  Max: 40 pts   │       │  Max: 30 pts     │
   └───────────────┘       └─────────────────┘

What You Know Before Starting

Given	Value
Structure	1/2-inch PVC pipe
Length	Between 1 m and 2.5 m (unknown exact value)
Width	Approximately 36 cm
Height	Unknown — this is what you must find
Visual targets	Eight 10 cm x 10 cm colored squares on the structure
Allowed tools	You may place a ruler or known-dimension object near the garden

The colored squares (10 cm x 10 cm) serve two purposes: 1. Scoring — more visible targets in the model = more points (up to 20) 2. Scale reference — each is a known 10 cm measurement you can use for verification

Competition Procedure

Phase 0: Start Image Capture Immediately (Copilot)

The 3D model takes 5-10 minutes to generate. Start this as soon as the ROV reaches the coral garden. You don't need the true length yet — just photos.

On the Co-Pilot page, press the red record button on the camera aimed at the coral
Pilot slowly around the entire coral garden:
- Maintain ~30-50 cm distance
- Move slowly — no sudden turns or motion blur
- Orbit the full structure from multiple angles around it
- Capture from different heights (above, level, slightly below)
- Ensure all 8 colored squares are clearly visible in at least several frames each — this is worth up to 20 points
- Aim for 60-80% overlap between successive viewpoints
- 15-30 images minimum
Press stop — browser extracts frames and downloads a ZIP
Go to the Photogrammetry page, upload the folder, and click "Generate Model"
The pipeline runs in the background — proceed to Step 1 while it processes

Step 1: Measure the Length (10 points) — REQUIRED FOR EVERYTHING ELSE

You MUST attempt this. If you skip it, the judge will NOT give you the true length.

Methods:

Method	How	Notes
Laser pointers	Known separation (e.g. 10 cm). Traverse the coral, count how many laser-widths fit.	Most common method
Physical ruler	Place alongside the coral using the manipulator arm	Must retrieve before demo ends (counts as debris otherwise)
Colored squares	Each is 10 cm x 10 cm. Count how many fit along the length.	Can verify from camera footage
ROV/arm reference	Use the manipulator arm or ROV body as a known-length reference	Must know the exact dimension

Procedure: 1. Pilot measures the length using one of the methods above 2. Copilot records the number 3. Tell the station judge: "We measured the length as X cm. We measured it by [method]." 4. Judge awards up to 10 points if within 5 cm 5. The judge gives you the TRUE LENGTH — write this down immediately

Step 2A: Scale Model + Estimate Height (Option A — 10 more points)

Once you have the true length from the judge AND the 3D model has finished generating:

Enter the true length (from the judge) into the "True Coral Length" field
Click "Estimate Height"
The system:
- Calculates scale factor: S = true_length / model_longest_horizontal_extent
- Calculates height: H = model_vertical_extent x S
- Displays both the true length and estimated height on the model
Show the judge:
- The 3D model (rotatable) — judge checks target visibility (5-20 pts)
- The true length displayed on the model — judge verifies (5 pts)
- The estimated height displayed on the model — judge checks if within 5 cm (5 pts)

Step 2B: Manual CAD Fallback (Option B — 20 more points)

Do this in parallel if time allows, or as a backup if the pipeline fails:

Physically measure the height using the same tools as length measurement
On the Photogrammetry page:
- Enter the true length (from judge) in "True Coral Length"
- Enter your measured height in "Estimated Coral Height"
Click "Manual CAD Model"
Show the judge the model with three rectangular prisms showing both dimensions

Scaling Algorithm

Inputs:
  true_length:  Exact length given by the judge (cm)
  3D model:     The GLB mesh generated from your photos

Step 1: Compute bounding box of the 3D model
  L_model = longest horizontal extent (model units)
  H_model = vertical extent (model units)

Step 2: Scale Factor
  S = true_length / L_model

Step 3: Real Height
  H_real = H_model x S

Step 4: Display (judge must see both)
  "Length: [true_length] cm"
  "Height: [H_real] cm"

Recommended Strategy

Do both options simultaneously:

Time	Pilot	Copilot
0:00	Navigate to coral	—
0:30	Orbit coral (copilot records)	Start camera recording
3:00	Begin length measurement	Stop recording, upload images, click Generate
5:00	Begin height measurement	Pipeline running in background
7:00	Report length to judge → get TRUE LENGTH	Enter true length if model is ready
8:00	Report height to judge (Option B)	Click "Manual CAD Model" with both measurements
9:00	—	If pipeline done: click "Estimate Height" (Option A)
10:00	—	Show judge BOTH models, take higher score

Option B is the safe bet (30 pts, guaranteed if measurements are good). Option A is the bonus (40 pts if the model is high quality with targets visible). Doing both maximizes your score.

Timing Guide

Phase	Time	Notes
Image capture + start pipeline	3 min	Do FIRST
Length measurement	2 min	While model generates
Height measurement (Option B)	2 min	While model generates
Report to judge, get true length	1 min	Write down the true length!
Enter true length + scale/estimate	30 sec	After judge gives true length
Manual CAD model	30 sec	Enter height + length, click button
Show judge results	1-2 min	Show both models if you have them
Total	~10-12 min	Fits within 15-min demo window

Troubleshooting During Competition

Problem	Quick fix
Pipeline still running	Use Option B (Manual CAD) — instant, worth 30 pts
Model has few/no targets visible	Still worth 5 pts. Focus on Option B for more points.
Height estimate seems wrong	Check you entered the TRUE length (from judge), not your own estimate
Model not textured	Geometry still works for height estimation. Targets may not be visible though.
Backend not responding	Option B only needs the Manual CAD endpoint. Restart Docker if possible.
Judge won't give true length	You must attempt to measure length first. Show your method.
Object left in pool	Any ruler/reference object counts as debris if not retrieved!

Pre-Competition Checklist

[ ] Docker Desktop running with 8GB+ RAM
[ ] Photogrammetry backend container tested end-to-end
[ ] Frontend connects to backend (curl http://localhost:8100/api/health)
[ ] Camera recording tested (Co-Pilot page: record → stop → ZIP download works)
[ ] Full pipeline test: upload images → generate → enter length → estimate height
[ ] Manual CAD tested: enter length + height → generate → verify dimensions shown
[ ] Laser pointers or reference tools calibrated and mounted on ROV
[ ] Team knows the exact dimensions of the manipulator arm / ROV body for reference
[ ] Practice the judge interaction: "We measured X cm by [method]"
[ ] Roles assigned:
- Pilot: Drives ROV, measures length and height with tools
- Copilot: Records camera, operates UI, presents results to judge

Keys	Action
`?`	Open this help
`n`	Next page
`p`	Previous page
`s`	Search