1. RAAD 2006. June 15-17. Budapest Tech, John von Neumann Faculty of Informatics PAL COMMANDER Mobile Robot Navigation Using Omnidirectional Vision Mornailla László Pekár Tamás Solymosi Csaba Vámossy Zoltán

2. PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy2 2006. June, RAAD Goals Mobile robot Multiple navigation types  Homogeneous, weakly-textured environment  Obstacle avoidance  Line following  Object following

3. PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy3 2006. June, RAAD The Construction

4. PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy4 2006. June, RAAD RC controlling Opto coupler (CNY 744) 6 movement direction Parallel port Possible controlling commands:  0: stop  1: forward  2: backward  4: wheels right  6: right backward  7: right forward  8: wheels left  9: left forward  10: left backward No precision controlling

5. PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy5 2006. June, RAAD Modell RC controlling I. Variable communication frequency Precision controlling Serial port  Direction #0 - #17: left #18 - #19: center #20 - #40: right  Speed #0 - #21: backwards #22: stop #23 - #40: forwards PIC microcontroller (18F1320)  2 level interrupt

6. PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy6 2006. June, RAAD Modell RC controlling II. The circuitry of the extra electronics Generated controlling impulses (PIC)  1. impulse: 15ms periodical time  2. impulse: setting the direction  3. impulse: setting the direction

7. PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy7 2006. June, RAAD Mobile robots RCModell RC

8. PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy8 2006. June, RAAD The PAL-optics Advantages  No need of moving components  No need of focusing  Direction, and angle of surrounding object can be directly computed Projects the 360º degrees of the environment to 2D Circular image Can be described by a polar coordinate-system Blind spot Properties:  PAL center  Inner radius (r1)  Outer radius (r2)  Angle of field of view

9. PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy9 2006. June, RAAD Controlling Software Input Preprocessing Decision maker Mapper Navigation

10. PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy10 2006. June, RAAD Preprocessing  RGB  HSL  Treshold Edge detection  Canny Controlling Software Preprocessing I. (1) (2) (3) (4)

11. PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy11 2006. June, RAAD Controlling Software Preprocessing II. (1)(2)(3) (4)(5) 1, raw image 2, HSL filtered 3, (2) + binatization 4, HSL + pixelate 5, (4) + threshold

12. PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy12 2006. June, RAAD One complex algorithm  Line following  Object following  “Free fall” navigation Controlling Software Decision Maker Parameters  Distance  Scanning degree  Threshold minimum

13. PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy13 2006. June, RAAD Controlling Software Mapper module

14. PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy14 2006. June, RAAD Controlling Software User interface

15. PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy15 2006. June, RAAD Results RC test video Line following  Nearly homogeneous ground  White line Difficulties  White line, white wall  Reflection of the ground Relatively fast

16. PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy16 2006. June, RAAD Results Modell RC testvideo

17. PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy17 2006. June, RAAD Conclusion Easily reproducible components Low-cost Simple reconstruction Improvements  Mapping module

18. PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy18 2006. June, RAAD References Omnidirectional Vision page: http://www.cis.upenn.edu/~kostas/omni.html http://www.cis.upenn.edu/~kostas/omni.html Veress, M. and Greguss, P. (1998), Centric Minded Imaging in Space Research, In: Proc. of 7th International Workshop on RAAD'98, (K. Dobrovodsky (Ed.)), pp. 121 - 126. Bratislava, Slovakia. Kónya László - Mikrovezérlők alkalmazástechnikája, ChipCAD Elektronikai Disztribúció Kft., 2000,2003 SharperCV by Peter Wentworth http://www.cs.ru.ac.za/research/groups/SharperCV http://www.cs.ru.ac.za/research/groups/SharperCV

19. PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy19 2006. June, RAAD Thank you for your attention! We would be glad to hear about any interest in the project. Contact  palcommander@googlegroups.com palcommander@googlegroups.com Web site:  http://palcom.bmfnik.hu http://palcom.bmfnik.hu

20. PAL-Commander László Mornailla,Tamás Pekár, Csaba Solymosi, Zoltán Vámossy20 2006. June, RAAD Questions?