ParkNav Complex Dynamic Scenes Interpretation and Reactive Motion Planning Robea Project [October 2002- September 2005] Scientific Coordination: Thierry Fraichard e-Motion, Gravir-CNRS & Inria Rhône-Alpes Thierry Fraichard ParkNav evaluation, Montpellier, March 31st, 2005 - p. 1/35
Introduction Thierry Fraichard ParkNav evaluation, Montpellier, March 31st, 2005 - p. 2/35
Project Summary Introduction • Project Summary • Scientific Problems Automate the driving of a vehicle. . . • Partners • Key Component: Dynamic Map Server • 2003 Activity Report • 2004 Activity Report Experimental Testbed Dynamic Map Server . . . moving amidst moving objects Scene Interpretation (vehicles, pedestrians) in a site equipped Reactive Motion Planning with video-cameras Joint integrated demonstrator using the Inria Rhône-Alpes testbed Thierry Fraichard ParkNav evaluation, Montpellier, March 31st, 2005 - p. 3/35
Scientific Problems • Interpretation of complex dynamic scenes with cameras ◦ On-line detection, tracking and identification of moving Introduction objects in outdoor environments • Project Summary • Scientific Problems ◦ Accuracy, robustness • Partners • Key Component: Dynamic Map Server • 2003 Activity Report • 2004 Activity Report • Reactive motion planning integrating environment dynamicity and uncertainty on moving objects future behaviour Experimental Testbed ◦ On-line motion computation/adaptation Dynamic Map Server ◦ Safety Scene Interpretation Reactive Motion Planning Thierry Fraichard ParkNav evaluation, Montpellier, March 31st, 2005 - p. 4/35
Partners • e-Motion (ex Sharp), Gravir ◦ Project coordination, testbed development supervision Introduction ◦ Reactive motion planning in highly dynamic environments • Project Summary • Scientific Problems (moving objects future behaviour prediction, partial motion • Partners • Key Component: Dynamic planning) Map Server • 2003 Activity Report • 2004 Activity Report • Movi, Gravir ◦ Multiple cameras calibration, moving object tracking with a Experimental Testbed pan-tilt-zoom camera Dynamic Map Server • Prima, Gravir Scene Interpretation ◦ Moving object tracking with multiple fixed cameras Reactive Motion Planning • RIA, Laas-CNRS ◦ Reactive motion planning in weakly dynamic environments (nominal motion deformation) • Lagadic (ex Vista), Irisa ◦ Moving object tracking with a pan-tilt-zoom camera Thierry Fraichard ParkNav evaluation, Montpellier, March 31st, 2005 - p. 5/35
Key Component: Dynamic Map Server Scene interpretation Introduction ↓ • Project Summary • Scientific Problems • Partners • Key Component: Dynamic Map Server • 2003 Activity Report • 2004 Activity Report Experimental Testbed Dynamic Map Server Scene Interpretation Reactive Motion Planning ↓ Reactive motion Thierry Fraichard ParkNav evaluation, Montpellier, March 31st, 2005 - p. 6/35
2003 Activity Report • Testbed development (specification, deployment): ◦ Two fixed cameras, one workstation Introduction ◦ Preliminary version of the Dynamic Map Builder (single • Project Summary • Scientific Problems camera, no server) • Partners • Key Component: Dynamic ◦ Collaboration of e-Motion, Movi and Prima under the Map Server • 2003 Activity Report supervision of Frédéric Hélin (e-Motion) • 2004 Activity Report Experimental Testbed • Visible collaboration items Dynamic Map Server ◦ Plenary meeting: Gravir, January 2003 Scene Interpretation ◦ Visit of Cedric Pradalier (e-Motion) to RIA: experimental Reactive Motion Planning vehicle (Cycab) presentation, June 2003 ◦ Stay of Olivier Lefèbvre (RIA) with e-Motion: first live experiments on motion deformation, July 2003 Thierry Fraichard ParkNav evaluation, Montpellier, March 31st, 2005 - p. 7/35
2004 Activity Report • Testbed development ◦ Four additional fixed cameras (two wireless), one Introduction pan-tilt-zoom camera, two additional workstations • Project Summary • Scientific Problems ◦ Novel version of the Dynamic Map Server (multi-cameras, • Partners • Key Component: Dynamic server, Cycab integration) Map Server • 2003 Activity Report ◦ Environment modelling • 2004 Activity Report ◦ Evaluation of different trackers � the outdoor problem. . . Experimental Testbed ◦ Collaboration of e-Motion, Movi and Prima under the Dynamic Map Server supervision of Fernando De La Rosa,and Eric Boniface Scene Interpretation (e-Motion) Reactive Motion Planning • Visible collaboration items ◦ Robea workshop: Toulouse, January 2004 ◦ Plenary meetings: Gravir, March and November 2004 ◦ Stay of Olivier Lefèbvre (RIA) with e-Motion: second live experiments on motion deformation, February 2005 ◦ Joint RIA & e-Motion publication ICRA’04 Thierry Fraichard ParkNav evaluation, Montpellier, March 31st, 2005 - p. 8/35
Experimental Testbed Thierry Fraichard ParkNav evaluation, Montpellier, March 31st, 2005 - p. 9/35
Camera Layout (Phase 1) Introduction Experimental Testbed • Camera Layout (Phase 1) • Camera Layout (Phase 2) • Hardware Architecture Dynamic Map Server Scene Interpretation Reactive Motion Planning Thierry Fraichard ParkNav evaluation, Montpellier, March 31st, 2005 - p. 10/35
Camera Layout (Phase 2) Introduction Experimental Testbed • Camera Layout (Phase 1) • Camera Layout (Phase 2) • Hardware Architecture Dynamic Map Server Scene Interpretation Reactive Motion Planning Thierry Fraichard ParkNav evaluation, Montpellier, March 31st, 2005 - p. 11/35
Hardware Architecture Capteur Capteur Introduction Capteur Capteur Capteur Capteur Experimental Testbed • Camera Layout (Phase 1) • Camera Layout (Phase 2) • Hardware Architecture Dynamic Map Server Capteur Station Station Station orientable Scene Interpretation Routeur Parkview Carolus Bistre hertzien Reactive Motion Planning Réseau ParkView Xeon 3Ghz Xeon 3Ghz P4 2.4Ghz 512 Mo RAM 512 Mo RAM 512 Mo RAM GNU/Linux Fedora FC2 GNU/Linux Fedora FC2 GNU/Linux RH 9 Thierry Fraichard ParkNav evaluation, Montpellier, March 31st, 2005 - p. 12/35
Dynamic Map Server Thierry Fraichard ParkNav evaluation, Montpellier, March 31st, 2005 - p. 13/35
Moving Object Tracking (Phase 1) Introduction Experimental Testbed Dynamic Map Server • Moving Object Tracking (Phase 1) • Moving Object Tracking (Phase 2) • Software Architecture • Environment Modelling • Cycab Integration Scene Interpretation Reactive Motion Planning Thierry Fraichard ParkNav evaluation, Montpellier, March 31st, 2005 - p. 14/35
Moving Object Tracking (Phase 2) Introduction Experimental Testbed Dynamic Map Server • Moving Object Tracking (Phase 1) • Moving Object Tracking (Phase 2) • Software Architecture • Environment Modelling • Cycab Integration Scene Interpretation Reactive Motion Planning Thierry Fraichard ParkNav evaluation, Montpellier, March 31st, 2005 - p. 15/35
Software Architecture Introduction Experimental Testbed Dynamic Map Server • Moving Object Tracking (Phase 1) • Moving Object Tracking (Phase 2) • Software Architecture • Environment Modelling • Cycab Integration Scene Interpretation Reactive Motion Planning Thierry Fraichard ParkNav evaluation, Montpellier, March 31st, 2005 - p. 16/35
Environment Modelling Introduction Experimental Testbed Dynamic Map Server • Moving Object Tracking (Phase 1) • Moving Object Tracking (Phase 2) • Software Architecture • Environment Modelling • Cycab Integration Scene Interpretation Reactive Motion Planning Thierry Fraichard ParkNav evaluation, Montpellier, March 31st, 2005 - p. 17/35
Cycab Integration Introduction Experimental Testbed Dynamic Map Server • Moving Object Tracking (Phase 1) • Moving Object Tracking (Phase 2) • Software Architecture • Environment Modelling • Cycab Integration Scene Interpretation Reactive Motion Planning Thierry Fraichard ParkNav evaluation, Montpellier, March 31st, 2005 - p. 18/35
Scene Interpretation Thierry Fraichard ParkNav evaluation, Montpellier, March 31st, 2005 - p. 19/35
Movi — Camera Calibration Introduction Experimental Testbed Dynamic Map Server Scene Interpretation • Movi — Camera Calibration • Movi — Configuration Estimation • Prima — Split-Merge • Prima — Multi-Camera Tracking • Lagadic — Cycab Pan-Tilt Tracking • Lagadic — On-Board Pedestrian Pan-Tilt Tracking Reactive Motion Planning Thierry Fraichard ParkNav evaluation, Montpellier, March 31st, 2005 - p. 20/35
Movi — Configuration Estimation Introduction Experimental Testbed Dynamic Map Server Scene Interpretation • Movi — Camera Calibration • Movi — Configuration Estimation • Prima — Split-Merge • Prima — Multi-Camera Tracking • Lagadic — Cycab Pan-Tilt Tracking • Lagadic — On-Board Pedestrian Pan-Tilt • Multi-camera views Tracking Reactive Motion Planning Thierry Fraichard ParkNav evaluation, Montpellier, March 31st, 2005 - p. 21/35
Prima — Split-Merge Introduction Experimental Testbed Dynamic Map Server Scene Interpretation • Movi — Camera Calibration • Movi — Configuration Estimation • Prima — Split-Merge • Prima — Multi-Camera Tracking • Lagadic — Cycab Pan-Tilt Tracking • Lagadic — On-Board Pedestrian Pan-Tilt Tracking Reactive Motion Planning Thierry Fraichard ParkNav evaluation, Montpellier, March 31st, 2005 - p. 22/35
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