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WP6: IST / INRIA-Sophia Tiago F. Gonçalves, José R. Azinheira, Patrick Rives PowerPoint PPT Presentation


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WP6: IST / INRIA-Sophia Tiago F. Gonçalves, José R. Azinheira, Patrick Rives. March 12-13, 2009 Ljubljana. Contents. Previous Work Visual Tracking (INRIA-Sophia / IST) Dynamic management of ROIs Direct visual tracking Visual Servoing (IST / INRIA-Sophia) Sensor-based

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WP6: IST / INRIA-Sophia Tiago F. Gonçalves, José R. Azinheira, Patrick Rives

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Wp6 ist inria sophia tiago f gon alves jos r azinheira patrick rives

WP6: IST / INRIA-SophiaTiago F. Gonçalves, José R. Azinheira, Patrick Rives

March 12-13, 2009

Ljubljana

Intellectual Property Rights are governed by PEGASE Contract Annex II Part C and PEGASE consortium agreements. Before using, reproducing, modifying or disclosing the information contained in that document, it is under the user responsibility to check its rights and if mandatory ask to the Intellectual Property Owner the authorisation to use, reproduce, modify or disclose the information.


Contents

Intellectual Property Rights are governed by PEGASE Contract Annex II Part C and PEGASE consortium agreements. Before using, reproducing, modifying or disclosing the information contained in that document, it is under the user responsibility to check its rights and if mandatory ask to the Intellectual Property Owner the authorisation to use, reproduce, modify or disclose the information.

Contents

  • Previous Work

  • Visual Tracking (INRIA-Sophia / IST)

    • Dynamic management of ROIs

    • Direct visual tracking

  • Visual Servoing (IST / INRIA-Sophia)

    • Sensor-based

    • Position-based visual servoing

    • Image-based visual servoing

  • Results

  • Conclusions / Future Work


Previous work 1

Intellectual Property Rights are governed by PEGASE Contract Annex II Part C and PEGASE consortium agreements. Before using, reproducing, modifying or disclosing the information contained in that document, it is under the user responsibility to check its rights and if mandatory ask to the Intellectual Property Owner the authorisation to use, reproduce, modify or disclose the information.

Previous Work (1)

  • Matlab simulation framework:

    • Visual tracking based on feature points

    • Camera model with image discretization

    • Homography computation using SVD

  • ESM visual tracker:

    • Dense visual tracking

    • Estimation of lightning parameters

    • Real time performance


Previous work 2

Intellectual Property Rights are governed by PEGASE Contract Annex II Part C and PEGASE consortium agreements. Before using, reproducing, modifying or disclosing the information contained in that document, it is under the user responsibility to check its rights and if mandatory ask to the Intellectual Property Owner the authorisation to use, reproduce, modify or disclose the information.

Previous Work (2)

  • Visual Servoing (PBVS)

    • Optimal control design (LQR)

    • Linearization of PEGASE aircraft flight model

    • Direct control of actuators


Visual tracking 1

Intellectual Property Rights are governed by PEGASE Contract Annex II Part C and PEGASE consortium agreements. Before using, reproducing, modifying or disclosing the information contained in that document, it is under the user responsibility to check its rights and if mandatory ask to the Intellectual Property Owner the authorisation to use, reproduce, modify or disclose the information.

Visual Tracking (1)

  • Dynamic management of ROIs:

    • Avoid that the followed ROI goes out of the field-of-view

      when the aircraft is manoeuvering

    • Selection of the most textured region of the image


Visual tracking 2

Intellectual Property Rights are governed by PEGASE Contract Annex II Part C and PEGASE consortium agreements. Before using, reproducing, modifying or disclosing the information contained in that document, it is under the user responsibility to check its rights and if mandatory ask to the Intellectual Property Owner the authorisation to use, reproduce, modify or disclose the information.

Visual Tracking (2)

  • Direct visual tracking:

    • Reference path defined by images

      • Each sector is sampled by images

        and indexed by respective camera pose

    • Output

      • Homography between current and

        reference image ROIs

    • Integrated into the PEGASE

      simulation framework


Visual servoing

Intellectual Property Rights are governed by PEGASE Contract Annex II Part C and PEGASE consortium agreements. Before using, reproducing, modifying or disclosing the information contained in that document, it is under the user responsibility to check its rights and if mandatory ask to the Intellectual Property Owner the authorisation to use, reproduce, modify or disclose the information.

Visual Servoing

  • Sensor-based

    • u = u0 - Kx(x - x0) - Kv(v - v0)

      x/v -> pose/velocities states measured by aircraft sensors

  • Position-based visual servoing (PBVS)

    • u = u0 - Ky(y - y0) - Kv(v - v0)

      y = f (H = R+tn’/d) pose data extrated from homography

      by decompositon

  • Image-based visual servoing (IBVS)

    • u = u0 - Kxye - Kv(v - v0)

      ye = (LscW0)+(H(:) – H*(:)), with H* = I(3)


Visual tracking results 1

Intellectual Property Rights are governed by PEGASE Contract Annex II Part C and PEGASE consortium agreements. Before using, reproducing, modifying or disclosing the information contained in that document, it is under the user responsibility to check its rights and if mandatory ask to the Intellectual Property Owner the authorisation to use, reproduce, modify or disclose the information.

Visual Tracking Results (1)

  • PBVS (closed-loop)

  • Flog density – 0.4

  • Rain density – 0.8

  • Rain thickness – 1p

  • Wind: 10m/s N

  • -1m/s E

  • No turbulence


Visual tracking results 2

Intellectual Property Rights are governed by PEGASE Contract Annex II Part C and PEGASE consortium agreements. Before using, reproducing, modifying or disclosing the information contained in that document, it is under the user responsibility to check its rights and if mandatory ask to the Intellectual Property Owner the authorisation to use, reproduce, modify or disclose the information.

Visual Tracking Results (2)


Visual tracking results 21

Intellectual Property Rights are governed by PEGASE Contract Annex II Part C and PEGASE consortium agreements. Before using, reproducing, modifying or disclosing the information contained in that document, it is under the user responsibility to check its rights and if mandatory ask to the Intellectual Property Owner the authorisation to use, reproduce, modify or disclose the information.

Visual Tracking Results (2)


Visual servoing results 1

Intellectual Property Rights are governed by PEGASE Contract Annex II Part C and PEGASE consortium agreements. Before using, reproducing, modifying or disclosing the information contained in that document, it is under the user responsibility to check its rights and if mandatory ask to the Intellectual Property Owner the authorisation to use, reproduce, modify or disclose the information.

Visual Servoing Results (1)

  • IBVS

  • Flog density – 0.4

  • Rain density – 0.8

  • Rain thickness – 2p

  • Wind: 10m/s N

  • -1m/s E

  • Turbulence – L1


Visual servoing results 2

Intellectual Property Rights are governed by PEGASE Contract Annex II Part C and PEGASE consortium agreements. Before using, reproducing, modifying or disclosing the information contained in that document, it is under the user responsibility to check its rights and if mandatory ask to the Intellectual Property Owner the authorisation to use, reproduce, modify or disclose the information.

Visual Servoing Results (2)


Conclusions

Intellectual Property Rights are governed by PEGASE Contract Annex II Part C and PEGASE consortium agreements. Before using, reproducing, modifying or disclosing the information contained in that document, it is under the user responsibility to check its rights and if mandatory ask to the Intellectual Property Owner the authorisation to use, reproduce, modify or disclose the information.

Conclusions

  • Visual Tracking:

    • Visual tracking software validated and integrated into the PEGASE simulation framework

    • Not valid for low altitudes (<30m) due to the high pixel displacement

  • Homography-based visual servoing

    • PBVS and IBVS validated and integrated into the PEGASE simulation framework

    • IBVS does not consider wind disturbances


Future work

Intellectual Property Rights are governed by PEGASE Contract Annex II Part C and PEGASE consortium agreements. Before using, reproducing, modifying or disclosing the information contained in that document, it is under the user responsibility to check its rights and if mandatory ask to the Intellectual Property Owner the authorisation to use, reproduce, modify or disclose the information.

Future Work

  • Pan-Tilt control

    • Pan-tilt control to compensate wind disturbance for IBVS

  • Non-Linear control

    • Homography-based non-linear control law

  • Complete automatic landing

    • Runway side lines following for flare, roll-out and also take-off

      (Rives and Azinheira)


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