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 one-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 Robea Workshop, Toulouse (FR), January 28, 2004 – p.2/4

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 Robea Workshop, Toulouse (FR), January 28, 2004 – p.3/4

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 of 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 Cl i e n t P a r k v i e w m o b i l e Vidéo, synchronis a t ion B u s C a p t e u r 1 co mm a nd e s C a p t e u r 2 C a p t e u r 3 S e r v e u r d e c a r t e S t a t ion Cl i e n t dyn a m i q u e d e t r a v a i l R o u t e u r h e r t z i e n P a r k v i e w R és e a u Robea Workshop, Toulouse (FR), January 28, 2004 – p.6/4

Experimental Testbed Robea Workshop, Toulouse (FR), January 28, 2004 – p.7/4

Dynamic Map Server Élé m e n t s s t a t i qu e s E lé m e n t s m ob i l e s E lé m e n t s s e m i - m ob i l e s C o m p o s i t i o n Ca r t e dy n a m i qu e Robea Workshop, Toulouse (FR), January 28, 2004 – p.8/4

Moving Object Tracking X ' X ' 1 2 Y ' C o rr . d i st o r s i o n ho m o g r a p h ie R o b u st T r a ck e r 2 Camé r a Y ' 1 F u s i o n X ' X ' 1 2 Y ' 2 Camé r a R o b u st T r a ck e r C o rr . d i st o r s i o n ho m o g r a p h ie Y ' 1 Robea Workshop, Toulouse (FR), January 28, 2004 – p.9/4

Preliminary Dynamic Map Server Results Robea Workshop, Toulouse (FR), January 28, 2004 – p.10/4

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 Robea Workshop, Toulouse (FR), January 28, 2004 – p.11/4