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Vision-based Motion Planning for an Autonomous Motorcycle on Ill-Structured Road. Reporter : 鄒嘉恆 Date : 08/31/09. Intr oduction. Design a vision-based motion planning system for desert terrain. The motion planning is based on a vision vector space(V 2 -space).

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vision based motion planning for an autonomous motorcycle on ill structured road

Vision-based Motion Planning for an Autonomous Motorcycle on Ill-Structured Road

Reporter:鄒嘉恆

Date:08/31/09

intr oduction
Introduction
  • Design a vision-based motion planning system for desert terrain.
  • The motion planning is based on a vision vector space(V2-space).
  • Motivated by the DARPA Grand Challenge.
outline
Outline
  • V2-space
  • Algorithm
    • V2-Space construction
    • Motion planning in V2-space
  • Experimental results
  • Conclusion
v2 space
V2-space
  • Pin-hole model:
  • Video frame F is a matrix of RGB values:
algorithm v2 space construction2
Algorithm:V2-space construction
  • Surface verification:
  • Obstacles detection:
algorithm v2 space construction3
Algorithm:V2-space construction
  • Direction extraction:
algorithm motion planning in v2 space
Algorithm:Motion planning in V2-space
  • A point robot with no time delay:
algorithm motion planning in v2 space1
Algorithm:Motion planning in V2-space
  • Choose the velocity profile vp(t)
  • The motorcycle cannot run too fast for a given trajectory radius R.
a lgorithm motion planning in v 2 space
Algorithm:Motion planning in V2-space
  • Incorporating GPS information:
experimental results
Experimental results
  • From video clip:
experimental results1
Experimental results
  • From video clip:
experimental results2
Experimental results
  • From video clip:
experimental results3
Experimental results
  • Filed tests:
conclusions
Conclusions
  • Propose V2-space, a new framework that represent road feature and allows fast construction and motion planning.
  • In the future, they will consider incorporating V2-space in a stereo vision system.
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