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 - PowerPoint PPT Presentation

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

Reporter：鄒嘉恆

Date：08/31/09

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
• V2-space
• Algorithm
• V2-Space construction
• Motion planning in V2-space
• Experimental results
• Conclusion
V2-space
• Pin-hole model：
• Video frame F is a matrix of RGB values：
Algorithm：V2-space construction
• Surface verification：
• Obstacles detection：
Algorithm：V2-space construction
• Direction extraction：
Algorithm：Motion planning in V2-space
• A point robot with no time delay：
Algorithm：Motion planning in V2-space
• Choose the velocity profile vp(t)
• The motorcycle cannot run too fast for a given trajectory radius R.
Algorithm：Motion planning in V2-space
• Incorporating GPS information：
Experimental results
• From video clip：
Experimental results
• From video clip：
Experimental results
• From video clip：
Experimental results
• Filed tests：
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.