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IRR@IU Update

IRR@IU Update. Team Tasks VCS Vision Sensor Network AI. IRR@IU Team Changes. Faculty: Steve Johnson, Florin Cutzu Staff: Bryce Himebaugh PhD: Arnab Dhua, Todd Holloway, Alex Leykin MS: Matt Ira, Corey Bowers “Project Seminar” added for Spring, soliciting more student involvement

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IRR@IU Update

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  1. IRR@IU Update • Team • Tasks • VCS • Vision • Sensor Network • AI SDJ.SDML.CS.IUB

  2. IRR@IU Team Changes • Faculty: Steve Johnson, Florin Cutzu • Staff: Bryce Himebaugh • PhD: Arnab Dhua, Todd Holloway, Alex Leykin • MS: Matt Ira, Corey Bowers • “Project Seminar” added for Spring, soliciting more student involvement • Some current participants may return to the project in April. • Discussions with PTL ongoing • Indications of help ($) from PTL, Informatics • Caution: Johnson & Himebaugh have increased teaching/support loads in Spring. SDJ.SDML.CS.IUB

  3. VCS Task • Control I/F between navigation system and physical system • VCS node: network communicaiton • VCM card: digital interface • (RT)Linux, C, ASM, hardware • Integration Testing on model, preparing for Jeep. • STATUS: operational but primitive functionality. SDJ.SDML.CS.IUB

  4. VCS: VCS Node • Application level Xcvr handles network communcation and message translation. • Command process does low-level command processing, enforces control rules, monitors constraints. Strictly periodic, real-time. SDJ.SDML.CS.IUB

  5. VCS: Vehicle Control Module • MSP430 based controller • Mostly C • Still being modified for Jeep, model. • Control rules, timing will migrate down over time. SDJ.SDML.CS.IUB

  6. VCS: Test Harness • Main purpose: regression testing (nothing fancy; minimize development effort) • Alternate purpose: enable AI experimentation (more later) • Goal: close GPS loop in coming weeks. • Goal: set up distruted integration testing. SDJ.SDML.CS.IUB

  7. VCS: Outlook • Integration process has been typical • Test, test, test • As the Jeep comes on line, • Failure mode analysis • Redundant shut-down functions • Test site management • Benchmark (simulation) model is useful • Needs to be functionally consistent • Does not need to be accurate • Additional vehicles? SDJ.SDML.CS.IUB

  8. Vision • Preliminary results from Cutzu, Leykin • PG stereo- & mono-scopic cameras (just arr.) • Priorities • Obstacle detection • Road finding • Orientation (tower finding, etc.) • Results posted on IRR@IU hub site • Far to go • Possible data acquisition excursion in 2-3 weeks. SDJ.SDML.CS.IUB

  9. Vision: Road Finding (Cutzu) • “Simple nearest-neighbor scheme • no geometrical information • no intensity information • slow SDJ.SDML.CS.IUB

  10. Vision: Road Finding/Vanishing Point (Leykin) X X X X SDJ.SDML.CS.IUB

  11. Vision: Horizon Line (Leykin) • “it definitely runs in real time” • example does not extract a “feature”; just draws a line SDJ.SDML.CS.IUB

  12. Vision: Stereo Ranging (Leykin) SDJ.SDML.CS.IUB

  13. Sensor (Video) Network • “one sensor, one node, one person” SDJ.SDML.CS.IUB

  14. Sensor (Video) Network • Bumblebee configuration: two image streams, self synchronized via Firewire • Stereo differencing in software may consume most of a CPU • Other stereo configurations may require video stream fusion, at least. • Ranging is just one filter, from which multiple features are derived. • And this is just video… SDJ.SDML.CS.IUB

  15. Sensor (Video) Network • One or more sensor networks are needed. • Partial functionality will be needed by the April visit. • At present, IU team lacks the means to accomplish this • This is a potential IP development area for IRR LLC • It also appears to be “fund-worthy” on a limited scale. SDJ.SDML.CS.IUB

  16. Sensor (Video) Network: Approach • Data synchronous: data flow guarantees fusion • Demand oriented: flow governs acquisition rate • Opportunities for innovation in specification languages, design/analysis tools, implementation processes. SDJ.SDML.CS.IUB

  17. AI Control Support • Prototyping & Experimentation still far off. • Need vehicle, “realistic” sensory input, and a means to train • Used NNs and will use CBR in simulation model (Holloway) • Pf-of-Principle demos using XPlane (Holloway) • Need to keep AI “in the game”. It is where IRR LLC has commercial prospects SDJ.SDML.CS.IUB

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