Mobile Robotics and Olfaction Lab, AASS, Örebro University

# 45

Achim J. Lilienthal

# 46 MRO'12 © A. J. Lilienthal (May 30, 2012)

1.

Forklift Trucks (Danaher Motion, Linde MH, Stora Enso)

Wheel Loaders (VolvoCE, VolvoTech, NCC)

Mining Vehicles (Atlas Copco, Fotonic)

Hospital Transport Vehicles (RobCab)

Garbage Bin Collection and Cleaning (RoboTech)

Landfill Site Inspection (Atleverket)

Unloading Containers (Vollers, Qubica)

Rich 3D Perception Projects

# 47 MRO'12 © A. J. Lilienthal (May 30, 2012)

1.

Forklift Trucks (Danaher Motion, Linde MH, Stora Enso)

Wheel Loaders (VolvoCE, VolvoTech, NCC)

Mining Vehicles (Atlas Copco, Fotonic)

Hospital Transport Vehicles (RobCab)

Garbage Bin Collection and Cleaning (RoboTech)

Landfill Site Inspection

Unloading Containers (Vollers, Qubica)

Rich 3D Perception Projects

# 48 MRO'12 © A. J. Lilienthal (May 30, 2012)

1.

Forklift Trucks (Danaher Motion, Linde MH, Stora Enso)

Wheel Loaders (VolvoCE, VolvoTech, NCC)

Mining Vehicles (Atlas Copco, Fotonic)

Hospital Transport Vehicles (RobCab)

Garbage Bin Collection and Cleaning (RoboTech)

Landfill Site Inspection (Atleverket)

Unloading Containers (Vollers, Qubica)

Rich 3D Perception Projects

# 49 MRO'12 © A. J. Lilienthal (May 30, 2012)

1.

Forklift Trucks (Danaher Motion, Linde MH, Stora Enso)

Wheel Loaders (VolvoCE, VolvoTech, NCC)

Mining Vehicles (Atlas Copco, Fotonic)

Hospital Transport Vehicles (RobCab)

Garbage Bin Collection and Cleaning (RoboTech)

Landfill Site Inspection (Atleverket)

Unloading Containers (Vollers, Qubica)

Rich 3D Perception Projects

# 50 MRO'12 © A. J. Lilienthal (May 30, 2012)

1.

Forklift Trucks (Danaher Motion, Linde MH, Stora Enso)

Wheel Loaders (VolvoCE, VolvoTech, NCC)

Mining Vehicles (Atlas Copco, Fotonic)

Hospital Transport Vehicles (RobCab)

Garbage Bin Collection and Cleaning (RoboTech)

Landfill Site Inspection (Atleverket)

Unloading Containers (Vollers, Qubica)

Rich 3D Perception Projects

# 51 MRO'12 © A. J. Lilienthal (May 30, 2012)

1.

Forklift Trucks (Danaher Motion, Linde MH, Stora Enso)

Wheel Loaders (VolvoCE, VolvoTech, NCC)

Mining Vehicles (Atlas Copco, Fotonic)

Hospital Transport Vehicles (RobCab)

Garbage Bin Collection and Cleaning (RoboTech)

Landfill Site Inspection (Atleverket)

Unloading Containers (Vollers, Qubica)

Rich 3D Perception Projects

# 52 MRO'12 © A. J. Lilienthal (May 30, 2012)

1.

Rich 3D Perception o research question

» how can we create a consistent, useful world model from rich 3D data?

MR&O Lab – Research Areas

# 54 MRO'12 © A. J. Lilienthal (May 30, 2012)

1.

Rich 3D Perception o research question

» how can we create a consistent, useful world model from rich 3D data? o key contributions

» how to create compact, consistent world models from rich 3D data?

MR&O Lab – Research Areas

# 55 MRO'12 © A. J. Lilienthal (May 30, 2012)

1.

Rich 3D Perception o research question

» how can we create a consistent, useful world model from rich 3D data? o key contributions

» how to create compact, consistent world models from rich 3D data?

MR&O Lab – Research Areas

HDL-64E (≈75k$)

http://velodynelidar.com/lidar

# 56 MRO'12 © A. J. Lilienthal (May 30, 2012)

1.

Rich 3D Perception o research question

» how can we create a consistent, useful world model from rich 3D data? o key contributions

» how to create compact, consistent world models from 3D data? • 3D-NDT (Normal Distribution Transform) [Magnusson et al., JFR 2007]

MR&O Lab – Research Areas

# 57 MRO'12 © A. J. Lilienthal (May 30, 2012)

1.

Rich 3D Perception o research question

» how can we create a consistent, useful world model from rich 3D data? o key contributions

» how to create compact, consistent world models from rich 3D data? » scan registration def

MR&O Lab – Research Areas

# 61 MRO'12 © A. J. Lilienthal (May 30, 2012)

1.

[Magnusson et al., JFR 2007] [Magnusson et al., ICRA 2009]

Rich 3D Perception o research question

» how can we create a consistent, useful world model from rich 3D data? o key contributions

» how to create compact, consistent world models from rich 3D data? » scan registration def

• Iterative 3D-NDT Scan Registration [Magnusson et al., JFR 2007 / Magnusson et al., ICRA 2009]

Selected Research Results

point-to-NDT (P2D)

[Magnusson et al., JFR 2007] [Magnusson et al., ICRA 2009]

point-to-NDT (P2D)

# 62 MRO'12 © A. J. Lilienthal (May 30, 2012)

1.

[Magnusson et al., JFR 2007] [Magnusson et al., ICRA 2009]

Rich 3D Perception o research question

» how can we create a consistent, useful world model from rich 3D data? o key contributions

» how to create compact, consistent world models from rich 3D data? » scan registration def

• Iterative 3D-NDT Scan Registration [Magnusson et al., JFR 2007 / Magnusson et al., ICRA 2009]

• NDT-2-NDT Registration [Stoyanov et al., ICRA 2012 / IJRR 2012?]

Selected Research Results

point-to-NDT (P2D)

[Magnusson et al., JFR 2007] [Magnusson et al., ICRA 2009]

point-to-NDT (P2D)

[Stoyanov et al., IJRR 2012?] [Stoyanov et al., ICRA 2012]

NDT-to-NDT (D2D)

# 63 MRO'12 © A. J. Lilienthal (May 30, 2012)

1.

Scan Registration o NDT-2-NDT [Stoyanov et al., ICRA 2012? / Stoyanov et al., IJRR 2012?]

NDT-to-NDT (D2D)

ICP

[Besl/McKay, TPAM 1992]

# 64 MRO'12 © A. J. Lilienthal (May 30, 2012)

1.

Scan Registration o NDT-2-NDT [Stoyanov et al., ICRA 2012? / Stoyanov et al., IJRR 2012?]

NDT-to-NDT (D2D)

ICP Generalized ICP

[Besl/McKay, TPAM 1992] [Segal et al., RSS 2009]

# 65 MRO'12 © A. J. Lilienthal (May 30, 2012)

1.

Scan Registration o NDT-2-NDT [Stoyanov et al., ICRA 2012? / Stoyanov et al., IJRR 2012?]

NDT-to-NDT (D2D)

ICP Generalized ICP Point-to-NDT (P2D)

[Besl/McKay, TPAM 1992] [Segal et al., RSS 2009] [Magnusson et al., JFR 2007] [Magnusson et al., ICRA 2009]

# 66 MRO'12 © A. J. Lilienthal (May 30, 2012)

1.

Scan Registration o NDT-2-NDT [Stoyanov et al., ICRA 2012? / Stoyanov et al., IJRR 2012?]

NDT-to-NDT (D2D)

ICP Generalized ICP Point-to-NDT (P2D) NDT-to-NDT (D2D-L2)

[Besl/McKay, TPAM 1992] [Segal et al., RSS 2009] [Magnusson et al., JFR 2007] [Magnusson et al., ICRA 2009]

[Stoyanov et al., IJRR 2012?] [Stoyanov et al., ICRA 2012?]

# 67 MRO'12 © A. J. Lilienthal (May 30, 2012)

1.

Scan Registration o NDT-2-NDT [Stoyanov et al., ICRA 2012? / Stoyanov et al., IJRR 2012?]

» results

NDT-to-NDT (D2D)

ICP

343 registrations

# 68 MRO'12 © A. J. Lilienthal (May 30, 2012)

1.

Scan Registration o NDT-2-NDT [Stoyanov et al., ICRA 2012? / Stoyanov et al., IJRR 2012?]

» results

NDT-to-NDT (D2D)

ICP NDT-P2D

343 registrations

# 69 MRO'12 © A. J. Lilienthal (May 30, 2012)

1.

Scan Registration o NDT-2-NDT [Stoyanov et al., ICRA 2012? / Stoyanov et al., IJRR 2012?]

» results

NDT-to-NDT (D2D)

ICP NDT-P2D NDT-D2D (L2)

343 registrations

# 70 MRO'12 © A. J. Lilienthal (May 30, 2012)

1.

Scan Registration o NDT-2-NDT [Stoyanov et al., ICRA 2012? / Stoyanov et al., IJRR 2012?]

» results

NDT-to-NDT (D2D)

ICP NDT-P2D NDT-D2D (L2)

343 registrations

# 71 MRO'12 © A. J. Lilienthal (May 30, 2012)

1.

Scan Registration o NDT-2-NDT [Stoyanov et al., ICRA 2012? / Stoyanov et al., IJRR 2012?]

» results

NDT-to-NDT (D2D)

ICP NDT-P2D NDT-D2D (L2)

343 registrations

good convergence, accurate and consistent,

slow

very good convergence, very accurate and

consistent, very fast

varying convergence, consistent but least

accurate, slow

# 74 MRO'12 © A. J. Lilienthal (May 30, 2012)

1.

Rich 3D Perception o research question

» how can we create a consistent, useful world model from rich 3D data? o key contributions

» how to create compact, consistent world models from rich 3D data? » scan registration def

• Iterative 3D-NDT Scan Registration [Magnusson et al., JFR 2007 / Magnusson et al., ICRA 2009]

• NDT-2-NDT Registration [Stoyanov et al., ICRA 2012? / Stoyanov et al., IJRR 2012?]

• Registration using Depth-Interpolated Local Image Features [Andreasson/Lilienthal, RAS 2010]

MR&O Lab – Research Areas

# 75 MRO'12 © A. J. Lilienthal (May 30, 2012)

1.

Rich 3D Perception o research question

» how can we create a consistent, useful world model from rich 3D data? o key contributions

» how to detect changes in rich 3D data? ("Find the Difference") • Difference Detection for Security Patrol Robots [Andreasson et al., IROS 2007]

MR&O Lab – Research Areas

# 76 MRO'12 © A. J. Lilienthal (May 30, 2012)

1.

Rich 3D Perception o research question

» how can we create a consistent, useful world model from rich 3D data? o key contributions

» detecting re-visited places with a low-dimensional representation? • 3D-NDT Signatures for Loop Closing [Magnusson et al., JFR 2009 / ICRA 2009]

MR&O Lab – Research Areas

# 77 MRO'12 © A. J. Lilienthal (May 30, 2012)

1.

Rich 3D Perception o research question

» how can we create a consistent, useful world model from rich 3D data? o key contributions

» can we plan paths directly in a compact representation? • NDT-based Path Planning in 3D Environments [Stoyanov/Lilienthal IROS 2010]

MR&O Lab – Research Areas