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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. 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

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  1. Vision-based Motion Planning for an Autonomous Motorcycle on Ill-Structured Road Reporter：鄒嘉恆 Date：08/31/09

  2. 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.

  3. Outline • V2-space • Algorithm • V2-Space construction • Motion planning in V2-space • Experimental results • Conclusion

  4. V2-space • Pin-hole model： • Video frame F is a matrix of RGB values：

  5. Algorithm：V2-space construction

  6. Algorithm：V2-space construction • Color correction：

  7. Algorithm：V2-space construction • Surface verification： • Obstacles detection：

  8. Algorithm：V2-space construction • Direction extraction：

  9. Algorithm：Motion planning in V2-space • A point robot with no time delay：

  10. Algorithm：Motion planning in V2-space • Choose the velocity profile vp(t) • The motorcycle cannot run too fast for a given trajectory radius R.

  11. Algorithm：Motion planning in V2-space • Incorporating GPS information：

  12. Algorithm：Vehicle size and processing delay • Vehicle size

  13. Algorithm：Vehicle size and processing delay • Image processing delay：

  14. Algorithm overview

  15. Experimental results • From video clip：

  16. Experimental results • From video clip：

  17. Experimental results • From video clip：

  18. Experimental results • Filed tests：

  19. 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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