10-Dec-04 SDJ.SDML.CS.IUB
IRR@IU Update
• Team• Tasks• VCS• Vision• Sensor Network• AI
10-Dec-04 SDJ.SDML.CS.IUB
IRR@IU Team Changes
• Faculty: Steve Johnson, Florin Cutzu• Staff: Bryce Himebaugh• PhD: Arnab Dhua, Todd Holloway, Alex Leykin• MS: Matt Ira, Corey Bowers
• “Project Seminar” added for Spring, soliciting more student involvement
• Some current participants may return to the project in April.
• Discussions with PTL ongoing• Indications of help ($) from PTL, Informatics• Caution: Johnson & Himebaugh have increased
teaching/support loads in Spring.
10-Dec-04 SDJ.SDML.CS.IUB
VCS Task
• Control I/F between navigation system and physical system
• VCS node: network communicaiton
• VCM card: digital interface
• (RT)Linux, C, ASM, hardware
• Integration Testing on model, preparing for Jeep.
• STATUS: operational but primitive functionality.
10-Dec-04 SDJ.SDML.CS.IUB
VCS: VCS Node
• Application level Xcvr handles network communcation and message translation.
• Command process does low-level command processing, enforces control rules, monitors constraints. Strictly periodic, real-time.
10-Dec-04 SDJ.SDML.CS.IUB
VCS: Vehicle Control Module
• MSP430 based controller
• Mostly C• Still being
modified for Jeep, model.
• Control rules, timing will migrate down over time.
10-Dec-04 SDJ.SDML.CS.IUB
VCS: Test Harness
• Main purpose: regression testing (nothing fancy; minimize development effort)
• Alternate purpose: enable AI experimentation (more later)
• Goal: close GPS loop in coming weeks.
• Goal: set up distruted integration testing.
10-Dec-04 SDJ.SDML.CS.IUB
VCS: Outlook
• Integration process has been typical• Test, test, test• As the Jeep comes on line,• Failure mode analysis• Redundant shut-down functions• Test site management
• Benchmark (simulation) model is useful• Needs to be functionally consistent• Does not need to be accurate
• Additional vehicles?
10-Dec-04 SDJ.SDML.CS.IUB
Vision
• Preliminary results from Cutzu, Leykin• PG stereo- & mono-scopic cameras (just arr.)• Priorities• Obstacle detection • Road finding• Orientation (tower finding, etc.)
• Results posted on IRR@IU hub site• Far to go• Possible data acquisition excursion in 2-3 weeks.
10-Dec-04 SDJ.SDML.CS.IUB
Vision: Road Finding (Cutzu)
• “Simple nearest-neighbor scheme
• no geometrical information
• no intensity information
• slow
10-Dec-04 SDJ.SDML.CS.IUB
Vision: Road Finding/Vanishing Point (Leykin)
X
X
XX
10-Dec-04 SDJ.SDML.CS.IUB
Vision: Horizon Line (Leykin)
• “it definitely runs in real time”
• example does not extract a “feature”; just draws a line
10-Dec-04 SDJ.SDML.CS.IUB
Vision: Stereo Ranging (Leykin)
10-Dec-04 SDJ.SDML.CS.IUB
Sensor (Video) Network
• “one sensor, one node, one person”
10-Dec-04 SDJ.SDML.CS.IUB
Sensor (Video) Network
• Bumblebee configuration: two image streams, self synchronized via Firewire
• Stereo differencing in software may consume most of a CPU
• Other stereo configurations may require video stream fusion, at least.
• Ranging is just one filter, from which multiple features are derived.
• And this is just video…
10-Dec-04 SDJ.SDML.CS.IUB
Sensor (Video) Network
• One or more sensor networks are needed.
• Partial functionality will be needed by the April visit.
• At present, IU team lacks the means to accomplish this
• This is a potential IP development area for IRR LLC
• It also appears to be “fund-worthy” on a limited scale.
10-Dec-04 SDJ.SDML.CS.IUB
Sensor (Video) Network: Approach
• Data synchronous: data flow guarantees fusion• Demand oriented: flow governs acquisition rate• Opportunities for innovation in specification
languages, design/analysis tools, implementation processes.
10-Dec-04 SDJ.SDML.CS.IUB
AI Control Support
• Prototyping & Experimentation still far off.• Need vehicle, “realistic” sensory input, and a means to train
• Used NNs and will use CBR in simulation model (Holloway)
• Pf-of-Principle demos using XPlane (Holloway)
• Need to keep AI “in the game”. It is where IRR LLC has commercial prospects
Top Related