IRR@IU Update
• Team
• Tasks
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10-Dec-04
VCS
Vision
Sensor Network
AI
SDJ.SDML.CS.IUB
IRR@IU Team Changes
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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
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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 nearestneighbor scheme
• no geometrical
information
• no intensity
information
• slow
10-Dec-04
SDJ.SDML.CS.IUB
Vision: Road Finding/Vanishing Point (Leykin)
X
X
X
X
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
10-Dec-04
SDJ.SDML.CS.IUB