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Group 99 Mobile Vision for Autonomous… Navigation and Reconnaissance Jay Silver Kevin Wortman Advised by Bill Ross
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Group 99
Mobile Vision for Autonomous…
Navigation and Reconnaissance
Jay Silver Kevin WortmanAdvised by Bill Ross
Group 99
Vision-aided Navigation for Off-road RoboticsACC Testbed development and DARPA FCS-PerceptOR program
Reconnaissance: Remote vision & monitoring, interactive map/video, and 3D modeling
Navigation: Collision avoidance and improved position estimation
• Reconnaissance and navigation on limited payload platforms (UGV, UAV, etc.)
• Autonomous systems to support Future Combat Systems (DARPA TTO, PerceptOR)
Vision systems for time-to-goal/bandwidth-constrained collision avoidance
in unstructured outdoor environments (example: lightly wooded scenarios)
All-terrain robotic vehicle (Ruggedized, 2 meter/sec)
Digital fisheye video (180 fisheye,12bit, 60fps, Megapixel)
6-DOF IMU (134 Hz, 3 gyros + 3 accelerometers)
Wireless ethernet (802.11 standard)
Onboard compute (2 Pentium IIIs)
Offboard processing (Dual Pentium IV)
Robotic Testbed (ACC - 9332)
Group 99
Autonomous Navigation
Group 99
Navigation
Resolution = f ( polar radius )Resolution = f ( polar radius )
Many resolutions to create new perspectives
Path finding with probabilistic obstacle models
Group 99
Navigation
Resolution = f ( polar radius )Resolution = f ( polar radius )
Many resolutions to create new perspectives
Path finding with probabilistic obstacle models
Group 99
Space Variant ResolutionsI(x,y) I(r
r
r
r
r
Spa
ce V
aria
nt
Res
= f
( r
)
Sta
ndar
d F
ishe
ye
Res
= c
onst
ant
}
}}
}
}}}} }
}}}
Distorted depth/range perception
Accurate depth/range perception
Group 99
Space Variant ResolutionsI(x,y) I(r
r
r
r
r
Spa
ce V
aria
nt
Res
= f
( r
)
Sta
ndar
d F
ishe
ye
Res
= c
onst
ant
}
}}
}
}}}} }
}}}
Distorted depth/range perception
Accurate depth/range perception
Group 99
Space Variant Resolutions
Group 99
Space Variant Resolutions
Resolution function is the integral of the angular shift w.r.t. eccentricity
Approximate with sum and find a least squares best fit polynomial
Space Variant Resolution =
Group 99
Space Variant ResolutionsEqual shifts along the radius of expansion for objects with equal range.
Boundary tracking is simplified.
Red = High Angular Shift
Blue = Low Angular Shift
Bird’s Eye View of Angular Shift
Inv
ers
e R
es
olu
tio
n -
de
gre
es
/pix
el
Eccentricity - degrees
Space-variant resolution function
Sensor limit
Group 99
Space Variant Resolutions
Fixed resolution Space-variant resolution
Group 99
Navigation
Resolution = f ( polar radius )
Many resolutions to create new perspectivesMany resolutions to create new perspectives
Path finding with probabilistic obstacle models
Group 99
Navigation
Resolution = f ( polar radius )
Many resolutions to create new perspectivesMany resolutions to create new perspectives
Path finding with probabilistic obstacle models
Group 99
Red = high res.
Green = med res. (1/2)
Blue = low res. (1/4)
Multiple Resolutions
Red = high res.
Green = med res. (1/2)
Blue = low res. (1/4)
Group 99
Navigation
Resolution = f ( polar radius )
Many resolutions to create new perspectives
Path finding with probabilistic obstacle modelsPath finding with probabilistic obstacle models
Group 99
Navigation
Resolution = f ( polar radius )
Many resolutions to create new perspectives
Path finding with probabilistic obstacle modelsPath finding with probabilistic obstacle models
Group 99
Path Finding with Probabilistic Obstacle Models
Minimum time to goal heavily rewardedDanger Avoidance heavily rewarded
Group 99
Ideal Path Finding with Probabilistic Obstacle Models
Group 99
Navigation Resolution = f ( polar radius )
Many resolutions to create new perspectives
Path finding with probabilistic obstacle modelsPath finding with probabilistic obstacle models
ReconnaissanceNext:
Access this presentation tomorrow at:
www.jaysilver.net/presentations
