Group 99 Mobile Vision for Autonomous… Navigation and Reconnaissance Jay Silver Kevin Wortman...
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Transcript of Group 99 Mobile Vision for Autonomous… Navigation and Reconnaissance Jay Silver Kevin Wortman...
![Page 1: Group 99 Mobile Vision for Autonomous… Navigation and Reconnaissance Jay Silver Kevin Wortman Advised by Bill Ross.](https://reader036.fdocuments.us/reader036/viewer/2022070409/56649e9c5503460f94b9cfe1/html5/thumbnails/1.jpg)
Group 99
Mobile Vision for Autonomous…
Navigation and Reconnaissance
Jay Silver Kevin WortmanAdvised by Bill Ross
![Page 2: Group 99 Mobile Vision for Autonomous… Navigation and Reconnaissance Jay Silver Kevin Wortman Advised by Bill Ross.](https://reader036.fdocuments.us/reader036/viewer/2022070409/56649e9c5503460f94b9cfe1/html5/thumbnails/2.jpg)
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)
![Page 3: Group 99 Mobile Vision for Autonomous… Navigation and Reconnaissance Jay Silver Kevin Wortman Advised by Bill Ross.](https://reader036.fdocuments.us/reader036/viewer/2022070409/56649e9c5503460f94b9cfe1/html5/thumbnails/3.jpg)
Group 99
Autonomous Navigation
![Page 4: Group 99 Mobile Vision for Autonomous… Navigation and Reconnaissance Jay Silver Kevin Wortman Advised by Bill Ross.](https://reader036.fdocuments.us/reader036/viewer/2022070409/56649e9c5503460f94b9cfe1/html5/thumbnails/4.jpg)
Group 99
Navigation
Resolution = f ( polar radius )Resolution = f ( polar radius )
Many resolutions to create new perspectives
Path finding with probabilistic obstacle models
![Page 5: Group 99 Mobile Vision for Autonomous… Navigation and Reconnaissance Jay Silver Kevin Wortman Advised by Bill Ross.](https://reader036.fdocuments.us/reader036/viewer/2022070409/56649e9c5503460f94b9cfe1/html5/thumbnails/5.jpg)
Group 99
Navigation
Resolution = f ( polar radius )Resolution = f ( polar radius )
Many resolutions to create new perspectives
Path finding with probabilistic obstacle models
![Page 6: Group 99 Mobile Vision for Autonomous… Navigation and Reconnaissance Jay Silver Kevin Wortman Advised by Bill Ross.](https://reader036.fdocuments.us/reader036/viewer/2022070409/56649e9c5503460f94b9cfe1/html5/thumbnails/6.jpg)
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
![Page 7: Group 99 Mobile Vision for Autonomous… Navigation and Reconnaissance Jay Silver Kevin Wortman Advised by Bill Ross.](https://reader036.fdocuments.us/reader036/viewer/2022070409/56649e9c5503460f94b9cfe1/html5/thumbnails/7.jpg)
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
![Page 8: Group 99 Mobile Vision for Autonomous… Navigation and Reconnaissance Jay Silver Kevin Wortman Advised by Bill Ross.](https://reader036.fdocuments.us/reader036/viewer/2022070409/56649e9c5503460f94b9cfe1/html5/thumbnails/8.jpg)
Group 99
Space Variant Resolutions
![Page 9: Group 99 Mobile Vision for Autonomous… Navigation and Reconnaissance Jay Silver Kevin Wortman Advised by Bill Ross.](https://reader036.fdocuments.us/reader036/viewer/2022070409/56649e9c5503460f94b9cfe1/html5/thumbnails/9.jpg)
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 =
![Page 10: Group 99 Mobile Vision for Autonomous… Navigation and Reconnaissance Jay Silver Kevin Wortman Advised by Bill Ross.](https://reader036.fdocuments.us/reader036/viewer/2022070409/56649e9c5503460f94b9cfe1/html5/thumbnails/10.jpg)
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
![Page 11: Group 99 Mobile Vision for Autonomous… Navigation and Reconnaissance Jay Silver Kevin Wortman Advised by Bill Ross.](https://reader036.fdocuments.us/reader036/viewer/2022070409/56649e9c5503460f94b9cfe1/html5/thumbnails/11.jpg)
Group 99
Space Variant Resolutions
Fixed resolution Space-variant resolution
![Page 12: Group 99 Mobile Vision for Autonomous… Navigation and Reconnaissance Jay Silver Kevin Wortman Advised by Bill Ross.](https://reader036.fdocuments.us/reader036/viewer/2022070409/56649e9c5503460f94b9cfe1/html5/thumbnails/12.jpg)
Group 99
Navigation
Resolution = f ( polar radius )
Many resolutions to create new perspectivesMany resolutions to create new perspectives
Path finding with probabilistic obstacle models
![Page 13: Group 99 Mobile Vision for Autonomous… Navigation and Reconnaissance Jay Silver Kevin Wortman Advised by Bill Ross.](https://reader036.fdocuments.us/reader036/viewer/2022070409/56649e9c5503460f94b9cfe1/html5/thumbnails/13.jpg)
Group 99
Navigation
Resolution = f ( polar radius )
Many resolutions to create new perspectivesMany resolutions to create new perspectives
Path finding with probabilistic obstacle models
![Page 14: Group 99 Mobile Vision for Autonomous… Navigation and Reconnaissance Jay Silver Kevin Wortman Advised by Bill Ross.](https://reader036.fdocuments.us/reader036/viewer/2022070409/56649e9c5503460f94b9cfe1/html5/thumbnails/14.jpg)
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)
![Page 15: Group 99 Mobile Vision for Autonomous… Navigation and Reconnaissance Jay Silver Kevin Wortman Advised by Bill Ross.](https://reader036.fdocuments.us/reader036/viewer/2022070409/56649e9c5503460f94b9cfe1/html5/thumbnails/15.jpg)
Group 99
Navigation
Resolution = f ( polar radius )
Many resolutions to create new perspectives
Path finding with probabilistic obstacle modelsPath finding with probabilistic obstacle models
![Page 16: Group 99 Mobile Vision for Autonomous… Navigation and Reconnaissance Jay Silver Kevin Wortman Advised by Bill Ross.](https://reader036.fdocuments.us/reader036/viewer/2022070409/56649e9c5503460f94b9cfe1/html5/thumbnails/16.jpg)
Group 99
Navigation
Resolution = f ( polar radius )
Many resolutions to create new perspectives
Path finding with probabilistic obstacle modelsPath finding with probabilistic obstacle models
![Page 17: Group 99 Mobile Vision for Autonomous… Navigation and Reconnaissance Jay Silver Kevin Wortman Advised by Bill Ross.](https://reader036.fdocuments.us/reader036/viewer/2022070409/56649e9c5503460f94b9cfe1/html5/thumbnails/17.jpg)
Group 99
Path Finding with Probabilistic Obstacle Models
Minimum time to goal heavily rewardedDanger Avoidance heavily rewarded
![Page 18: Group 99 Mobile Vision for Autonomous… Navigation and Reconnaissance Jay Silver Kevin Wortman Advised by Bill Ross.](https://reader036.fdocuments.us/reader036/viewer/2022070409/56649e9c5503460f94b9cfe1/html5/thumbnails/18.jpg)
Group 99
Ideal Path Finding with Probabilistic Obstacle Models
![Page 19: Group 99 Mobile Vision for Autonomous… Navigation and Reconnaissance Jay Silver Kevin Wortman Advised by Bill Ross.](https://reader036.fdocuments.us/reader036/viewer/2022070409/56649e9c5503460f94b9cfe1/html5/thumbnails/19.jpg)
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