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

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Presentation on theme: "Autonomous Rover Spectroscopy with Dozens of Targets / iSAIRAS 2008 / Caldeón, Thompson, Wettergreen 1 Autonomous Rover Reflectance Spectroscopy with Dozens."— Presentation transcript:

1 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

2 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

3 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

4 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

5 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

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

7 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]

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

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

10 Autonomous Rover Spectroscopy with Dozens of Targets / iSAIRAS 2008 / Caldeón, Thompson, Wettergreen 10 1. Calibration with white reference

11 Autonomous Rover Spectroscopy with Dozens of Targets / iSAIRAS 2008 / Caldeón, Thompson, Wettergreen 11 2. Feedforward kinematic pointing

12 Autonomous Rover Spectroscopy with Dozens of Targets / iSAIRAS 2008 / Caldeón, Thompson, Wettergreen 12 3. Visual servo: SIFT matching database

13 Autonomous Rover Spectroscopy with Dozens of Targets / iSAIRAS 2008 / Caldeón, Thompson, Wettergreen 13 4. Visual servo: feedback control Stereo depth -> desired (u,v)‏ Pan-tilt servo update with image Jacobian (u, v)‏

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

15 Autonomous Rover Spectroscopy with Dozens of Targets / iSAIRAS 2008 / Caldeón, Thompson, Wettergreen 15 Spectrum interpretation wavelength (nm)‏ 0.0 1.0 0.8 0.6 0.4 0.2 85013501850 2350 350 reflectance basalt sediment

16 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

17 Autonomous Rover Spectroscopy with Dozens of Targets / iSAIRAS 2008 / Caldeón, Thompson, Wettergreen 17 Amboy Crater field tests 50 30 40 20 10 Lost Track Rock Spectra Miss Trial 1 2 3 4 Rock Spectra Rock Spectra Rock Spectra Lost Track Lost Track Lost Track

18 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

19 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

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