ParkNav Complex Dynamic Scenes Interpretation and Reactive Motion - - PowerPoint PPT Presentation

ParkNav Complex Dynamic Scenes Interpretation and Reactive Motion Planning

Robea Project [October 2002- September 2005] Scientific Coordination: Thierry Fraichard eMotion, Gravir Inria Rhˆ

• ne-Alpes

Robea Workshop, Toulouse (FR), January 28, 2004 – p.1/4

Project Summary

Automate the driving of a vehicle. . . . . . moving amidst moving objects (vehicles, pedestrians) in a site equipped with video-cameras Joint integrated demonstrator using the Inria Rhône-Alpes testbed

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Scientific Problems

√ Interpretation of complex dynamic scenes with cameras ⋆ Static environment modelling ⋆ Detection, tracking and identification of moving objects in outdoor environments ⋆ Speed, robustness √ Reactive motion planning integrating environment dynamicity and uncertainty on moving objects future behaviour ⋆ On-line motion adaptation ⋆ Speed, safety

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Partners

√ eMotion (ex Sharp), Gravir √ Movi, Gravir √ Prima, Gravir √ RIA, Laas-CNRS √ Vista, Irisa

Robea Workshop, Toulouse (FR), January 28, 2004 – p.4/4

Partners

√ eMotion (ex Sharp), Gravir ⋆ Project coordination, experimental testbed development √ Movi, Gravir √ Prima, Gravir √ RIA, Laas-CNRS √ Vista, Irisa

Robea Workshop, Toulouse (FR), January 28, 2004 – p.4/4

Partners

√ eMotion (ex Sharp), Gravir ⋆ Project coordination, experimental testbed development ⋆ Reactive motion planning in highly dynamic environments (incremental trajectory computation, moving objects future behaviour prediction) √ Movi, Gravir √ Prima, Gravir √ RIA, Laas-CNRS √ Vista, Irisa

Robea Workshop, Toulouse (FR), January 28, 2004 – p.4/4

Partners

√ eMotion (ex Sharp), Gravir ⋆ Project coordination, experimental testbed development ⋆ Reactive motion planning in highly dynamic environments (incremental trajectory computation, moving objects future behaviour prediction) √ Movi, Gravir ⋆ Multiple camera calibration, moving object tracking with a pan-tilt-zoom camera √ Prima, Gravir √ RIA, Laas-CNRS √ Vista, Irisa

Robea Workshop, Toulouse (FR), January 28, 2004 – p.4/4

Partners

√ eMotion (ex Sharp), Gravir ⋆ Project coordination, experimental testbed development ⋆ Reactive motion planning in highly dynamic environments (incremental trajectory computation, moving objects future behaviour prediction) √ Movi, Gravir ⋆ Multiple camera calibration, moving object tracking with a pan-tilt-zoom camera √ Prima, Gravir ⋆ Moving object tracking with multiple fixed cameras √ RIA, Laas-CNRS √ Vista, Irisa

Robea Workshop, Toulouse (FR), January 28, 2004 – p.4/4

Partners

√ eMotion (ex Sharp), Gravir ⋆ Project coordination, experimental testbed development ⋆ Reactive motion planning in highly dynamic environments (incremental trajectory computation, moving objects future behaviour prediction) √ Movi, Gravir ⋆ Multiple camera calibration, moving object tracking with a pan-tilt-zoom camera √ Prima, Gravir ⋆ Moving object tracking with multiple fixed cameras √ RIA, Laas-CNRS ⋆ Reactive motion planning in weakly dynamic environments (nominal trajectory deformation) √ Vista, Irisa

Robea Workshop, Toulouse (FR), January 28, 2004 – p.4/4

Partners

√ eMotion (ex Sharp), Gravir ⋆ Project coordination, experimental testbed development ⋆ Reactive motion planning in highly dynamic environments (incremental trajectory computation, moving objects future behaviour prediction) √ Movi, Gravir ⋆ Multiple camera calibration, moving object tracking with a pan-tilt-zoom camera √ Prima, Gravir ⋆ Moving object tracking with multiple fixed cameras √ RIA, Laas-CNRS ⋆ Reactive motion planning in weakly dynamic environments (nominal trajectory deformation) √ Vista, Irisa ⋆ Moving object tracking with a pan-tilt-zoom camera

Robea Workshop, Toulouse (FR), January 28, 2004 – p.4/4

First Year Activity Report

√ Experimental testbed development (specification, deployment): ⋆ Two fixed cameras, preliminary version of the “Dynamic Map Server” ⋆ Active collaboration of eMotion, Movi and Prima under the supervision

• f Frédéric Hélin (eMotion)

√ “Visible” collaboration items ⋆ Plenary meeting: Gravir, January 2003 ⋆ Visit of Cedric Pradalier (eMotion) to RIA: experimental vehicle (Cycab) presentation ⋆ Stay of Olivier Lefèbvre (RIA) with eMotion: first live experiments on trajectory deformation

Robea Workshop, Toulouse (FR), January 28, 2004 – p.5/4

Experimental Testbed Architecture

Vidéo, synchronisation commandes Réseau Routeur hertzien Client Parkview mobile Serveur de carte dynamique Client Parkview Station de travail Capteur 3 Capteur 1 Capteur 2 Bus

Robea Workshop, Toulouse (FR), January 28, 2004 – p.6/4

Experimental Testbed

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Dynamic Map Server

Carte dynamique Éléments statiques Eléments mobiles Eléments semi-mobiles Composition

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Moving Object Tracking

Caméra homographie Robust Tracker

1

' X

2

' X

1

' Y

2

' Y

Caméra Robust Tracker

1

' X

2

' X

1

' Y

2

' Y

Fusion

• Corr. distorsion

homographie

• Corr. distorsion

Robea Workshop, Toulouse (FR), January 28, 2004 – p.9/4

Preliminary Dynamic Map Server Results

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Perspectives

√ Increase the number of fixed cameras so as to have better coverage and precision √ Improve target fusion and tracking by taking uncertainty into account (Bayesian reasoning) √ Install a pan-tilt-zoom camera so as to allow the integration of Movi and Vista’s work √ Explore possible cooperation between fixed and pan-tilt-zoom cameras √ Identify moving object (vehicle, pedestrian) √ Couple on-board and “off-board” perception √ Experiment both reactive motion planning schemes using the Dynamic Map Server data

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