Autonomous Rover Spectroscopy with Dozens of Targets / iSAIRAS 2008 / Caldeón, Thompson, Wettergreen 1 Autonomous Rover Reflectance Spectroscopy with Dozens.

Slides:

Advertisements

Similar presentations

Hilal Tayara ADVANCED INTELLIGENT ROBOTICS 1 Depth Camera Based Indoor Mobile Robot Localization and Navigation.

Advertisements

Hybrid Position-Based Visual Servoing

Vision for Robotics ir. Roel Pieters & dr. Dragan Kostić Section Dynamics and Control Dept. Mechanical Engineering {r.s.pieters, January.

Enables future missions such as autonomous geology, life seeking and polar exploration ROBOTIC SEARCH FOR ANTARCTIC METEORITES NASA and CARNEGIE MELLON.

Video Processing EN292 Class Project By Anat Kaspi.

Embedded Visual Control for Robotics 5HC99 ir. Roel Pieters & dr. Dragan Kostić Section Dynamics and Control Dept. Mechanical Engineering {r.s.pieters,

MEAM 620 Project Report Nima Moshtagh.

Visual Odometry for Ground Vehicle Applications David Nister, Oleg Naroditsky, James Bergen Sarnoff Corporation, CN5300 Princeton, NJ CPSC 643, Presentation.

Enables future missions such as autonomous geology, life seeking and polar exploration ROBOTIC SEARCH FOR ANTARCTIC METEORITES NASA and CARNEGIE MELLON.

Mapping Roads and other Urban Materials using Hyperspectral Data Dar Roberts, Meg Gardner, Becky Powell, Phil Dennison, Val Noronha.

C.M. Rodrigue, 2007 Geography, CSULB Mars: Sources of Data from the Robotic Missions III Geography S/07 Dr. Christine M. Rodrigue.

AE 469/569 TERM PROJECT DEVELOPING CORRECTION FUNCTION FOR TEMPERATURE EFFECTS ON NIR SOYBEAN ANALYSIS Jacob Bolson Maureen Suryaatmadja Agricultural Engineering.

Jason Li Jeremy Fowers Ground Target Following for Unmanned Aerial Vehicles.

Reflectance Spectroscopy Lab. Different colors correspond to different wavelengths of visible light 665 nm 630 nm 600 nm 550 nm 470 nm 425 nm 400 nm.

Zereik E., Biggio A., Merlo A. and Casalino G. EUCASS 2011 – 4-8 July, St. Petersburg, Russia.

Convolutional Neural Networks for Image Processing with Applications in Mobile Robotics By, Sruthi Moola.

A Brief Overview of Computer Vision Jinxiang Chai.

Carnegie Mellon Life in the Atacama, Design Review, December 19, 2003 Science Planner Science Observer Life in the Atacama Design Review December 19, 2003.

Solar spectrum, J. W. Draper 1840 John W. Draper ( ) Henry Draper ( ) Courtesy of Smithsonian Institution.

Intelligent Robotics Group NASA Ames Research Center Intelligent Robotics Group NASA Ames Research Center Planning for the Mapping and Exploration of Human.

Associative Pattern Memory (APM) Larry Werth July 14, 2007

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon SPI and Context Imagers Life in the Atacama Design Review December 19, 2003 Stuart.

3D SLAM for Omni-directional Camera

Vision-Based Reach-To-Grasp Movements From the Human Example to an Autonomous Robotic System Alexa Hauck.

Science Objectives & Investigation Methodology Life in the Atacama 2005 Science & Technology Workshop January 6-7, 2005 Nathalie A. Cabrol NASA Ames.

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon SCIENCE OPS [contributions from Peter, Trey, Dom, Kristen, Kristina and Mike] Life.

Science Investigation Life in the Atacama 2004 Science & Technology Workshop Nathalie A. Cabrol NASA Ames.

CS654: Digital Image Analysis Lecture 8: Stereo Imaging.

Food Quality Evaluation Techniques Beyond the Visible Spectrum Murat Balaban Professor, and Chair of Food Process Engineering Chemical and Materials Engineering.

THE ROBOTICS INSTITUTE Carnegie Mellon University The University of Pennsylvania Extended Environmental Monitoring via Intelligent Autonomous Airship (NSF.

Qualitative Vision-Based Mobile Robot Navigation Zhichao Chen and Stanley T. Birchfield Dept. of Electrical and Computer Engineering Clemson University.

General ideas to communicate Show one particular Example of localization based on vertical lines. Camera Projections Example of Jacobian to find solution.

7/30/2003 J. Moersch / ASTEP Workshop 1 Vis/NIR Reflectance Spectrometer: 2003 Field Test Results J. Moersch U. Tennessee Life in the Atacama ASTEP Workshop.

Autonomous Soil Investigator. What Is the ASI? Designed to complete the 2013 IEEE student robotics challenge Collects "soil" samples from a simulated.

Visible/Near-Infrared Spectrometer, Thermal Infrared Spectrometer, and Neutron Detector Life in the Atacama 2004 Science & Technology Workshop J. Moersch.

Efficient Visual Object Tracking with Online Nearest Neighbor Classifier Many slides adapt from Steve Gu.

Chapter 5 Multi-Cue 3D Model- Based Object Tracking Geoffrey Taylor Lindsay Kleeman Intelligent Robotics Research Centre (IRRC) Department of Electrical.

ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University A Tale of Two Rovers: Mission Scenarios for Kilometer-Scale Site.

FROM IMAGES TO ANSWERS Live Cell Imaging - Practical Issues Silver Spring & San Diego, June 2005.

Sparse Superpixel Unmixing of CRISM Hyperspectral Images 1 NASA / Caltech / JPL / Instrument Software and Science Data Systems Images courtesy NASA / Caltech.

Based on the success of image extraction/interpretation technology and advances in control theory, more recent research has focused on the use of a monocular.

Hyperspectral remote sensing

Ground-Truth Strategy Life in the Atacama 2004 Science & Technology Workshop Edmond A. Grin NASA Ames.

Paper presentation topics 2. More on feature detection and descriptors 3. Shape and Matching 4. Indexing and Retrieval 5. More on 3D reconstruction 1.

Carnegie Mellon Rover Concept of Operation Life in the Atacama 2004 Science & Technology Workshop David Wettergreen The Robotics Institute Carnegie Mellon.

1 Toward Autonomous Kilometer-Scale Site Survey by Planetary Rovers David R. Thompson Robotics Institute Carnegie Mellon University NASA.

Rover and Instrument Capabilities Life in the Atacama 2004 Science & Technology Workshop Michael Wagner, James Teza, Stuart Heys Robotics Institute, Carnegie.

Alan Cleary ‘12, Kendric Evans ‘10, Michael Reed ‘12, Dr. John Peterson Who is Western State? Western State College of Colorado is a small college located.

GM-Carnegie Mellon Autonomous Driving CRL 1 TitleRobust Detection of Curbs Thrust AreaPerception Project LeadDavid Wettergreen, CMU Wende Zhang, GM Inna.

Astrobiology Science and Technology for Exploring Planets (ASTEP) Mid-Year Review August 4, 2004 Robust Autonomous Instrument Placement for Rovers (JPL:

Scarab Autonomous Traverse Carnegie Mellon December 2007 David Wettergreen.

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Life in the Atacama Field Experiments 2004 David Wettergreen The Robotics Institute.

Lunar and Planetary Sciences Conference, March Autonomous Rover Detection and Response Applied to the Search for Life Via Chlorophyll Fluorescence.

1 Predictive Exploration for Autonomous Science David R. Thompson AAAI Doctoral Consortium 2007 Robotics Institute Carnegie Mellon University.

Life in the Atacama, Design Review, December 19, 2003 Carnegie Mellon Software Architecture Life in the Atacama Design Review December 19, 2003 David Wettergreen.

Vision-Guided Humanoid Footstep Planning for Dynamic Environments

Hyperspectral Sensing – Imaging Spectroscopy

William H. Ryan1, Eileen V. Ryan1, and Lee K. Johnson2

+ SLAM with SIFT Se, Lowe, and Little Presented by Matt Loper

System Overview CHRISS Combined High-Resolution Imaging and Spectroscopy System Intelligent Systems Group – University of Duisburg-Essen, Germany.

Identifying Tools of the Rover

Color-Texture Analysis for Content-Based Image Retrieval

Florian Shkurti, Ioannis Rekleitis, Milena Scaccia and Gregory Dudek

Properties of human stereo processing

Stereo Vision Applications

Features Readings All is Vanity, by C. Allan Gilbert,

Assistive System Progress Report 1

Liyuan Li, Jerry Kah Eng Hoe, Xinguo Yu, Li Dong, and Xinqi Chu

U-Net: Convolutional Network for Segmentation

Presentation transcript:

Autonomous Rover Spectroscopy with Dozens of Targets / iSAIRAS 2008 / Caldeón, Thompson, Wettergreen 1 Autonomous Rover Reflectance Spectroscopy with Dozens of Targets Francisco Calderón David R. Thompson David Wettergreen Robotics Institute Carnegie Mellon University NASA ASTEP NNG0-4GB66G

Autonomous Rover Spectroscopy with Dozens of Targets / iSAIRAS 2008 / Caldeón, Thompson, Wettergreen 2 Agenda Introducing spectrometer transects Image analysis and rock detection Visual servo procedure Amboy field test results

Autonomous Rover Spectroscopy with Dozens of Targets / iSAIRAS 2008 / Caldeón, Thompson, Wettergreen 3 Previous work in autonomous spectroscopy Antarctic Meteorite Search (Pedersen et al., 2001)‏ Single Cycle Instrument Placement (Pedersen et al., 2004, Madison 2006, etc.)‏ OASIS system (Castaño et al., 2005, 2006, 2007)‏ Autonomous spectrum intepretation (Bornstein et al., 2005, etc.)‏ Our goal: multiple targets, many samples

Autonomous Rover Spectroscopy with Dozens of Targets / iSAIRAS 2008 / Caldeón, Thompson, Wettergreen 4 Spectrometer transects Scientists specify:  Goal location  Time budget (allocated to traverse segments)‏ Rover:  Navigates to the goal  Detects and tracks multiple target features  Pauses to collect spectra while time remains goal

Autonomous Rover Spectroscopy with Dozens of Targets / iSAIRAS 2008 / Caldeón, Thompson, Wettergreen 5 Architecture spectrum rock database correspondence search visual servoing pan/tilt cameras VIS/ NIR 1. Image analysis 2. Data acquisition rock detection SIFT keypoint detection

Autonomous Rover Spectroscopy with Dozens of Targets / iSAIRAS 2008 / Caldeón, Thompson, Wettergreen 6 Image analysis: Rock detection [OpenCV libraries, Thompson and Castaño 2007]

Autonomous Rover Spectroscopy with Dozens of Targets / iSAIRAS 2008 / Caldeón, Thompson, Wettergreen 7 Modified Viola / Jones method Filter Cascade A (Left-lit)‏ detected rocks input image max Filter Cascade B (Right-lit)‏ [OpenCV libraries, Calderón and Thompson 2008]

Autonomous Rover Spectroscopy with Dozens of Targets / iSAIRAS 2008 / Caldeón, Thompson, Wettergreen 8 Typical spectrometer targets

Autonomous Rover Spectroscopy with Dozens of Targets / iSAIRAS 2008 / Caldeón, Thompson, Wettergreen 9 Spectrometer targeting ASD FieldSpec Pro VIS/NIR Spectrometer

Autonomous Rover Spectroscopy with Dozens of Targets / iSAIRAS 2008 / Caldeón, Thompson, Wettergreen Calibration with white reference

Autonomous Rover Spectroscopy with Dozens of Targets / iSAIRAS 2008 / Caldeón, Thompson, Wettergreen Feedforward kinematic pointing

Autonomous Rover Spectroscopy with Dozens of Targets / iSAIRAS 2008 / Caldeón, Thompson, Wettergreen Visual servo: SIFT matching database

Autonomous Rover Spectroscopy with Dozens of Targets / iSAIRAS 2008 / Caldeón, Thompson, Wettergreen Visual servo: feedback control Stereo depth -> desired (u,v)‏ Pan-tilt servo update with image Jacobian (u, v)‏

Autonomous Rover Spectroscopy with Dozens of Targets / iSAIRAS 2008 / Caldeón, Thompson, Wettergreen 14 Rock tracking example Movie courtesy Dom Jonak, CMU RI

Autonomous Rover Spectroscopy with Dozens of Targets / iSAIRAS 2008 / Caldeón, Thompson, Wettergreen 15 Spectrum interpretation wavelength (nm)‏ reflectance basalt sediment

Autonomous Rover Spectroscopy with Dozens of Targets / iSAIRAS 2008 / Caldeón, Thompson, Wettergreen 16 Amboy Crater field tests Our system: 21 rocks (±3.9) in 40 minutes, automatic target selection Without rock detection and pointing: 0 rocks Rock detection precision: 90.8% (±2.6)‏ 50m

Autonomous Rover Spectroscopy with Dozens of Targets / iSAIRAS 2008 / Caldeón, Thompson, Wettergreen 17 Amboy Crater field tests Lost Track Rock Spectra Miss Trial Rock Spectra Rock Spectra Rock Spectra Lost Track Lost Track Lost Track

Autonomous Rover Spectroscopy with Dozens of Targets / iSAIRAS 2008 / Caldeón, Thompson, Wettergreen 18 Accomplishments Fast spectroscopic profiles of rover transects Automatic spectroscopy calibration and interpretation Integrated feature detection, tracking, and mapping Average >1 rock spectrum per 2 minutes of rover travel time

Autonomous Rover Spectroscopy with Dozens of Targets / iSAIRAS 2008 / Caldeón, Thompson, Wettergreen 19 Thanks! CMU Field Robotics: Dom Jonak, James Teza ASU: Ron Greeley, Shelby Cave, Phil Christensen NASA ASTEP NNG0-4GB66G