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