zereik e., biggio a., merlo a. and casalino g. eucass 2011 – 4-8 july, st. petersburg, russia
TRANSCRIPT
Zereik E., Biggio A., Merlo A. and Casalino G.
EUCASS 2011 – 4-8 July, EUCASS 2011 – 4-8 July, St. Petersburg, RussiaSt. Petersburg, Russia
• Introduction• TBRA Overview• Objectives• Architecture / Technical Description• Perception Capability• DEM and Data Fusion• Test Results• Conclusion
EUCASS 2011 – 4-8 July, EUCASS 2011 – 4-8 July, St. Petersburg, RussiaSt. Petersburg, Russia
AgendaAgenda
IntroductionIntroduction
• Rover GNC:• Navigation• Localisation • Trajectory Control
• Reach goal
• Safe and best path
• Environment perception
EUCASS 2011 – 4-8 July, EUCASS 2011 – 4-8 July, St. Petersburg, RussiaSt. Petersburg, Russia
EUCASS 2011 – 4-8 July, EUCASS 2011 – 4-8 July, St. Petersburg, RussiaSt. Petersburg, Russia
TBRA OverviewTBRA Overview
• TBRA innovative aspectsFlexibilityFlexibility
modular software architecture each module provides a key functionality of the GNC
ModularityModularity Resulting from the standardization of the interfaces
and data structures exchanged between the software modules
• No “ad-hoc development” typical of space applications
Project ObjectivesProject Objectives
• Acquisition of experienceexperience in robotics for space exploration Team Growth
• ValidationValidation and TestingTesting of GNC algorithms Complete mobile robotic platform development
• NewNew solutions for the space market No “start from scratch” Support to programs, project and study development
• AnticipateAnticipate future exploration mission needs Innovative Sensors (Omni-camera, Time-of-flight Camera, …) Robot Swarms Manipulation Samples Fetching and Handling Opportunistic Science Reactive Navigation Simultaneous Localization and mapping (SLAM) …
EUCASS 2011 – 4-8 July, EUCASS 2011 – 4-8 July, St. Petersburg, RussiaSt. Petersburg, Russia
Functional OverviewFunctional Overview
EUCASS 2011 – 4-8 July, EUCASS 2011 – 4-8 July, St. Petersburg, RussiaSt. Petersburg, Russia
ArchitectureArchitecture
EUCASS 2011 – 4-8 July, EUCASS 2011 – 4-8 July, St. Petersburg, RussiaSt. Petersburg, Russia
Robotic SetupRobotic Setup
EUCASS 2011 – 4-8 July, EUCASS 2011 – 4-8 July, St. Petersburg, RussiaSt. Petersburg, Russia
EUCASS 2011 – 4-8 July, EUCASS 2011 – 4-8 July, St. Petersburg, RussiaSt. Petersburg, Russia
Localisation – Visual Odometry
Navigation – Path Planning
Navigation – Traversability
Navigation – Perception
Single Functionality TestingSingle Functionality Testing
EUCASS 2011 – 4-8 July, EUCASS 2011 – 4-8 July, St. Petersburg, RussiaSt. Petersburg, Russia
Perception CapabilityPerception Capability
Single PerceptionSingle Perception
EUCASS 2011 – 4-8 July, EUCASS 2011 – 4-8 July, St. Petersburg, RussiaSt. Petersburg, Russia
Single ReconstructionSingle Reconstruction
EUCASS 2011 – 4-8 July, EUCASS 2011 – 4-8 July, St. Petersburg, RussiaSt. Petersburg, Russia
• frames <base>, <pan>, <tilt> and <ptu> located in the same point A
• function of pan/tilt angles
• contribution also to translation as the camera does not rotate with respect to its reference frame origin
TT pantilt
basepan ,
EUCASS 2011 – 4-8 July, EUCASS 2011 – 4-8 July, St. Petersburg, RussiaSt. Petersburg, Russia
PTU ModelPTU Model
Multiple PerceptionMultiple Perception
EUCASS 2011 – 4-8 July, EUCASS 2011 – 4-8 July, St. Petersburg, RussiaSt. Petersburg, Russia
Multiple ReconstructionMultiple Reconstruction
EUCASS 2011 – 4-8 July, EUCASS 2011 – 4-8 July, St. Petersburg, RussiaSt. Petersburg, Russia
• blue means navigablenavigable, red means obstacleobstacle, black means unknownunknown
• 400 x 400 (pxl) planar image
• rover located at the image centre
• each pixel represents a world area of 5 cm x 5 cm
• black pixels just behind the box due to the occlusion of the box itself
EUCASS 2011 – 4-8 July, EUCASS 2011 – 4-8 July, St. Petersburg, RussiaSt. Petersburg, Russia
Camera Digital Elevation ModelCamera Digital Elevation Model
3DLS Digital Elevation Model3DLS Digital Elevation Model
EUCASS 2011 – 4-8 July, EUCASS 2011 – 4-8 July, St. Petersburg, RussiaSt. Petersburg, Russia
• sparse after 2-3 m
• 0.25 deg 3DLS angular resolution
• 10 deg/s speed
• resolution limited to reduce perception time
Data FusionData Fusion
• Data fusion policies:• Visual DEM or Laser DEM only no fusion at all• Both DEMs but Vision has the higher priority higher priority • Both DEMs but Laser has the higher priority higher priority • MergingMerging of both DEMs
• FilteringFiltering strategy for • Noise• Mismatched correspondences• Bad illumination
EUCASS 2011 – 4-8 July, EUCASS 2011 – 4-8 July, St. Petersburg, RussiaSt. Petersburg, Russia
Single Sensor DEMSingle Sensor DEM
Filtering(Median,…)
• Apply the filtering to each point from the sensor• Assign each computed value to the final DEM
EUCASS 2011 – 4-8 July, EUCASS 2011 – 4-8 July, St. Petersburg, RussiaSt. Petersburg, Russia
Multiple Sensor DEMMultiple Sensor DEM
• Apply the filtering to each point from the higher priority sensor• If the pixel is invalid, filter the corresponding value from the other sensor• Assign the computed value to the final DEM
EUCASS 2011 – 4-8 July, EUCASS 2011 – 4-8 July, St. Petersburg, RussiaSt. Petersburg, Russia
EUCASS 2011 – 4-8 July, EUCASS 2011 – 4-8 July, St. Petersburg, RussiaSt. Petersburg, Russia
Weighted MergingWeighted Merging
ConclusionsConclusions
EUCASS 2011 – 4-8 July, EUCASS 2011 – 4-8 July, St. Petersburg, RussiaSt. Petersburg, Russia
• Rover:• Autonomous navigation both indoor and outdoor• Many GNC sensors integrated• New GNC sensors and (functionalities) to be added
• Omni-camera• Time-of-Flight Camera• Manipulator
• Focus on algorithms only
• Portability on different platform
• No “ad hoc” development
• No “from scratch” development
• Testing and Validation Tool
Questions?Questions?
EUCASS 2011 – 4-8 July, EUCASS 2011 – 4-8 July, St. Petersburg, RussiaSt. Petersburg, Russia