1. Mobile Vision for Autonomous…
Navigation and Reconnaissance
Jay Silver Kevin Wortman
Advised by Bill Ross
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2. Vision-aided Navigation for Off-road Robotics
ACC 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 ( standard)
Onboard compute (2 Pentium IIIs)
Offboard processing (Dual Pentium IV)
Robotic Testbed (ACC )
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3. Autonomous Navigation
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4. Navigation Resolution = f ( polar radius )
Many resolutions to create new perspectives
Path finding with probabilistic obstacle models
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5. Navigation Resolution = f ( polar radius )
Many resolutions to create new perspectives
Path finding with probabilistic obstacle models
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6. Space Variant Resolutions
I(x,y)
I(r,q)
Distorted depth/range perception r q }
Standard Fisheye
Res = constant q r
Accurate depth/range perception
Space Variant
Res = f ( r )
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7. Space Variant Resolutions
I(x,y)
I(r,q)
Distorted depth/range perception r q }
Standard Fisheye
Res = constant q r
Accurate depth/range perception
Space Variant
Res = f ( r )
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8. Space Variant Resolutions
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9. Space Variant Resolutions
Resolution function is the integral of the angular shift w.r.t. eccentricity
Space Variant Resolution =
Approximate with sum and find a least squares best fit polynomial
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10. Space Variant Resolutions
Equal shifts along the radius of expansion for objects with equal range.
Boundary tracking is simplified.
Bird’s Eye View of Angular Shift
Red = High Angular Shift
Blue = Low Angular Shift
Space-variant resolution function
Inverse Resolution - degrees/pixel
Sensor limit
Eccentricity - degrees
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11. Space Variant Resolutions
Fixed resolution
Space-variant resolution
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12. Navigation Resolution = f ( polar radius )
Many resolutions to create new perspectives
Path finding with probabilistic obstacle models
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13. Navigation Resolution = f ( polar radius )
Many resolutions to create new perspectives
Path finding with probabilistic obstacle models
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14. Multiple Resolutions Red = high res. Green = med res. (1/2)
Blue = low res. (1/4)
Red = high res.
Green = med res. (1/2)
Blue = low res. (1/4)
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15. Navigation Resolution = f ( polar radius )
Many resolutions to create new perspectives
Path finding with probabilistic obstacle models
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16. Navigation Resolution = f ( polar radius )
Many resolutions to create new perspectives
Path finding with probabilistic obstacle models
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17. Path Finding with Probabilistic Obstacle Models
Danger Avoidance heavily rewarded
Minimum time to goal heavily rewarded
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18. Ideal Path Finding with Probabilistic Obstacle Models
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19. Reconnaissance Navigation Resolution = f ( polar radius )
Many resolutions to create new perspectives
Path finding with probabilistic obstacle models
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Reconnaissance
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