Vision based motion planning for an autonomous motorcycle on ill structured road
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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
Intr Ill-Structured Roadoduction

  • 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 Ill-Structured Road

  • V2-space

  • Algorithm

    • V2-Space construction

    • Motion planning in V2-space

  • Experimental results

  • Conclusion


V2 space
V2-space Ill-Structured Road

  • Pin-hole model:

  • Video frame F is a matrix of RGB values:


Algorithm v2 space construction
Algorithm Ill-Structured Road:V2-space construction


Algorithm v2 space construction1
Algorithm Ill-Structured Road:V2-space construction

  • Color correction:


Algorithm v2 space construction2
Algorithm Ill-Structured Road:V2-space construction

  • Surface verification:

  • Obstacles detection:


Algorithm v2 space construction3
Algorithm Ill-Structured Road:V2-space construction

  • Direction extraction:


Algorithm motion planning in v2 space
Algorithm Ill-Structured Road:Motion planning in V2-space

  • A point robot with no time delay:


Algorithm motion planning in v2 space1
Algorithm Ill-Structured Road: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
A Ill-Structured Roadlgorithm:Motion planning in V2-space

  • Incorporating GPS information:


Algorithm vehicle size and processing delay
Algorithm Ill-Structured Road:Vehicle size and processing delay

  • Vehicle size


Algorithm vehicle size and processing delay1
Algorithm Ill-Structured Road:Vehicle size and processing delay

  • Image processing delay:


Algorithm overview
Algorithm overview Ill-Structured Road


Experimental results
Experimental results Ill-Structured Road

  • From video clip:


Experimental results1
Experimental results Ill-Structured Road

  • From video clip:


Experimental results2
Experimental results Ill-Structured Road

  • From video clip:


Experimental results3
Experimental results Ill-Structured Road

  • Filed tests:


Conclusions
Conclusions Ill-Structured Road

  • 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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