The VIRGO experience: Research on Vision Based Robot Navigation

1
?e ta µ?t?a e??? ??µp?t... ? efa?µ??? t??
??µp?t???? te???????a? ?? ???? t??p?? p??sßas??
se p???t?st????? ??????
G?????? ?aµa?????, ?daµa?t?a ??????
2
TOURBOT?????ep?d?ast??? t??e-pa???s?a se
???se?a µ?s? ??µp?t???? ??p??s?p??
S?µµet????te? f??e??

• ?d??µa ?e???????a? ?a? ??e??a? - ????da
• ?d??µa ?e?????? ??????sµ?? - ????da
• ???a?t??? ?a? ???st?a???? ???se?? ?????? -????da
• THEON Mobile Platforms SA - ????da
• ?a?ep?st?µ?? t?? Freiburg - Ge?µa??a
• ?a?ep?st?µ?? t?? ?????? - Ge?µa??a
• Ge?µa???? ???se?? ?????? - Ge?µa??a

3
S?ed????aµµa pa???s?as??

• ??t??e?µe?? ??e??a?
• ??t???µ?? ??µp?t???? e?p??s?p??
• ???p? µ?sa ap? t? d?ad??t??
• ?????? µ?sa ap? t? d?ad??t??
• St?d?? e??????? t?? p?????µµat??
• S?µpe??sµata

4
??t??e?µe?? ??e??a?
?d?a
???e-pa???s?a se µ??se?a µ?s? ??µp?t????
e?p??s?p??

???p? µe ta µ?t?a t?? ??µp?t ?a? t? e????? ap?
ap?stas?
??ad??t??
5
??t??e?µe?? ??e??a?
???e-pa???s?a se µ??se?a µ?s? ??µp?t????
e?p??s?p??

• ?????µe?e? ??µp?t???? p?atf??µe? e??p??sµ??e? µe
  a?s??t??e? ?a? s??dedeµ??e? st? ??ad??t??
• ??e???? µ?s? ??ad??t???
• ??a??t?ta ??a a?t???µ? ?a? asfa?? ????s?
• ?et?d?s? ?pt???a???st???? ded?µ???? st? ???st?

6
??t??e?µe?? ??e??a?
S??p??

• ???pt??? d?ad?ast???? ??µp?t-?e?a??? ??a??? ?a
  pa???e? e?at?µ??e?µ??? p??sßas? se µ??se?a??
  e???µata ?a? st?? p???t?st??? ???????µ?? µ?s?
  ??ad??t???
• ?e?t?????a ?? e?p??s?p?? t?? ???st? st? µ??se??
  de??µe??? e?t???? µ?s? ??ad??t??? p?? t? ?d?????
  st? ?a ???e?ta? µ?s? st? ???? p?? ß??s?eta? ?a?
  ?a ep?s??pteta? s???e???µ??a e???µata
• ???s? ?? e?????t??, ep?t?p??? ?e?a???

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??t??e?µe?? ??e??a?
St????

• ???pt??? ??µp?t???? e?p??s?p?? µe e?e???µ??e?
  d??at?t?te? p?????s?? p?? ?a µp????? ?a ??????ta?
  ?µ?-a?t???µa st? ???? t?? µ??se???.
• ???pt??? ?at?????a s?ed?asµ???? se??d?? st?
  d?ad??t?? µe s??p? ?a e??p??et??? t??
  t??e-pa???s?a t?? ???st? e? ap?st?se??, d??ad? ?a
  d?e????????? t?? pa?at???s? e??? ????? µ?sa ap?
  ta µ?t?a t?? ??µp?t???? p?atf??µa?

8
??t??e?µe?? ??e??a?
?p?s?e?? µ?s? d?ad??t???
?p?t?p?a ?e????s?
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S?ed????aµµa pa???s?as??

• ??t??e?µe?? ??e??a?
• ??t???µ?? ??µp?t???? e?p??s?p??
• ???p? µ?sa ap? t? d?ad??t??
• ?????? µ?sa ap? t? d?ad??t??
• St?d?? e??????? t?? p?????µµat??
• S?µpe??sµata

10
??t???µ?? ??µp?t???? ??p??s?p??

11
??t???µ?? ??µp?t???? ??p??s?p??
St???e?a t?? ??µp?t???? ??atf??µa?

• ??????? s??µa
• ?p?????st??
• ??s??t??e? (sonars, laser scanner, IRs)
• ?????? ???? t?? s?µat?? µe tactile sensors

• Ste?e?s??p??? ?efa??
• ?s??µat? ep????????a
• ???s?µ???s? e?f??se??

12
??t???µ?? ??µp?t???? ??p??s?p??

• ???s?µ???s? e?f??se?? µe
• ???a???? st?µa
• ??t?a
• F??d?a

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??t???µ?? ??µp?t???? ??p??s?p??
??t?????

• ???te? ????? (a?t???µ? ?a?t????f?s?)
• ??s??t??e? (ranging systems - laser scanners,
  sonars)
• ?e?????? e?t?p?sµ??
• ???f?? ?????
• S?????s? ?a? ta???asµa st? ????

14
??t???µ?? ??µp?t???? ??p??s?p??

• ?a?t????f?s?

?d??µa ?e?????? ??????sµ??
???a?t??? ???se??
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??t???µ?? ??µp?t???? ??p??s?p??
?d??µa ?e?????? ??????sµ??
?p?t??esµa ?a?t????f?s??
???a?t??? ???se??
???se?? ??????
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??t???µ?? ??µp?t???? ??p??s?p??

• ?pt???a???st???? p????f???e? s?et???? µe ta
  e???µata

?d??µa ?e?????? ??????sµ??
???a?t??? ?a? ???st?a???? ???se?? ??????
Ge?µa???? ???se?? ??????
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??t???µ?? ??µp?t???? ??p??s?p??
?pe?e??as?a ?ed?µ????

• ??a??t?te? p?????s?? (asfa???, ap?te?esµat???)
• ??ad?ast??? p?????s?
• ?p?f??? eµp?d???
• ????s? ???? ap? ???eµa
• ????s? p??? s???e???µ??? s?µe?? st? ped??
  pa?at???s?? t?? ???st?
• ??????s? µe s???e???µ??? st???
• ?e????s?
• ????s? p??? e???µata (d?µ??????a d?ad??µ??)

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??t???µ?? ??µp?t???? ??p??s?p?? ??ad?ast???
p?????s?

• ?p?f??? eµp?d???

??t??? ep?t?ep?µe??? ????s??
Robot Model
Sonars Laser
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??t???µ?? ??µp?t???? ??p??s?p?? ??????s? µe
s???e???µ??? st???

• ????s? p??? e???µata
• S?ed?as? p??e?a?
• S??e??as?a µe t? s?st?µa ap?f???? eµp?d???
• G?????? d?????s? p??e?a? se pe??pt?s? d??aµ????
  eµp?d??? (p.?. ?p?s??pte? µ??se???)

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S?ed????aµµa pa???s?as??

• ??t??e?µe?? ??e??a?
• ??t???µ?? ??µp?t???? e?p??s?p??
• ???p? µ?sa ap? t? d?ad??t??
• ?????? µ?sa ap? t? d?ad??t??
• St?d?? e??????? t?? p?????µµat??
• S?µpe??sµata

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???p? µ?sa ap? t? d?ad??t??

• ???p? µ?sa ap? ta µ?t?a e??? ??µp?t
• ?et?d?s? ???te?
• ??µp?t ?e?t????? sta?µ??
• ??a?????? µet?d?s?
• ?s??µat? Ethernet
• ??p?µp? s?µat?? ß??te? st? ???st?
• ?a?t?????? µet?d?s? µ?s? d?ad??t??? se p??????
  ???ste?

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???p? µ?sa ap? t? d?ad??t??

• ??p?µp? s?µat?? ß??te? µ?s? d?ad??t???

• ?p?????
• Webcam32
• http//surveyorcorp.com/webcam32/
• ?µes? a?aµet?d?s? ?a??
• ?e??µ???? a???µ?? ?a?? p?? a?aµetad?d??ta?
• ?e??s? p???t?ta? e????a? ?a??

23
S?ed????aµµa pa???s?as??

• ??t??e?µe?? ??e??a?
• ??t???µ?? ??µp?t???? e?p??s?p??
• ???p? µ?sa ap? t? d?ad??t??
• ?????? µ?sa ap? t? d?ad??t??
• St?d?? e??????? t?? p?????µµat??
• S?µpe??sµata

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?????? µ?sa ap? t? d?ad??t??

• ????e? ??a a????ep?d?as? µe t? ???st?
• Se??de? st?? ????? t?? ?p?????st? p??? st? ??µp?t
• ???s? ?????? af?? LCD
• Se??de? d?ad??t???
• ?e???????a browser

?a??µ??e? a???? s?ed?as??
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?????? µ?sa ap? t? d?ad??t??

• S?ed?asµ?? ?????? ??a
• a????ep?d?as? µe t? ???st?

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Environment
TOURBOT Kick-off Meeting
Navigation SW
Sensors
Data Link
Mobile Platform
Platform bus
Processing Control Unit
On-site User

• TOURBOT System
• Technical point of view

Wireless Link
System Administrator
Information and Data Base
Off-board Workstation
ISDN Link
Remote User
WWW
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S?ed????aµµa pa???s?as??

• ??t??e?µe?? ??e??a?
• ??t???µ?? ??µp?t???? e?p??s?p??
• ???p? µ?sa ap? t? d?ad??t??
• ?????? µ?sa ap? t? d?ad??t??
• St?d?? e??????? t?? p?????µµat??
• S?µpe??sµata

28
St?d?? e??????? t?? p?????µµat??
29
S?ed????aµµa pa???s?as??

• ??t??e?µe?? ??e??a?
• ??t???µ?? ??µp?t???? e?p??s?p??
• ???p? µ?sa ap? t? d?ad??t??
• ?????? µ?sa ap? t? d?ad??t??
• St?d?? e??????? t?? p?????µµat??
• S?µpe??sµata

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S?µpe??sµata

• ???e-pa???s?a / t??e-pa?at???s?
• ??at?µ??e?µ??? p??sßas? ap? ap?stas? st? ????
  e??? µ??se???
• ??e???? ap? ap?stas? µ?s? d?ad??t???
• ?p?t?p?a ?e????s?

31
?e ta µ?t?a e??? ??µp?t... ? efa?µ??? t??
??µp?t???? te???????a? ?? ???? t??p?? p??sßas??
se p???t?st????? ??????
G?????? ?aµa?????, ?daµa?t?a ??????