(Progress Presentation) Autonomous Quadcopter Navigation
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Project Activity - October 2013 B31XP Robotics Project Module Heriot-Watt University VIBOT Promotion 7 (2012-2014)
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(Progress Presentation) Autonomous Quadcopter Navigation
- 1. Autonomous Quadcopter Navigation Group: Waka Waka H. Kidane, I. Sadek, M. Elawady Supervisor: Prof. Y. Petillot 1B31XP Robotics Project
- 2. Agenda • Overview • Related Work • Control Processing • Vision Processing • Future Work B31XP Robotics Project 2
- 3. Agenda • Overview • Related Work • Control Processing • Vision Processing • Future Work B31XP Robotics Project 3
- 4. Overview B31XP Robotics Project 4 Problem Definition Detecting and avoiding frontal obstacles using quad-rotor Ar.drone 2
- 5. Overview B31XP Robotics Project 5 Indoor 420g HD Camera 720P 30FPS Outdoor 320g Ultrasound Sensor Very Light and High Resistance Plastic Specific Propeller What is Ar.Drone?
- 6. Agenda • Overview • Related Work • Control Processing • Vision Processing • Future Work B31XP Robotics Project 6
- 7. Related Work I B31XP Robotics Project 7 Blob Based Obstacle Avoidance Algorithm • Assuming the floor as only one pattern or one color. • The blob repressing the floor is the largest blob. • Each image pixel is classified as an obstacle or the ground based on its color appearance. Limitation For AUV the floor is neither the largest blub nor mono-color .
- 8. Related Work I B31XP Robotics Project 8
- 9. Related Work II B31XP Robotics Project 9 Single Image Perspective Cue Algorithm • Use the Canny edge detector and apply a probabilistic Hough Transform to find long lines. • In a corridor environment, the long lines converge towards a vanishing point at the end of the corridor. Limitation Distinct and confined environments should be provided.
- 10. Related Work II B31XP Robotics Project 10
- 11. Related Work III B31XP Robotics Project 11 Stereo Vision Limitation Require at least two cameras, and the robot has only one eye! Monocular Stereo Vision Limitation In our task, robot is moving forward! Algorithm Assuming Static environment (two frames considered as two different cameras).
- 12. Related Work IV B31XP Robotics Project 12 Optical Flow Algorithm • Optical flow is an algorithm to tell the direction and magnitude change of the intensity from successive images. • Points closer to the camera move more quickly across the image plane.
- 13. Agenda • Overview • Related Work • Control Processing • Vision Processing • Future Work B31XP Robotics Project 13
- 14. Control Processing B31XP Robotics Project 14 Flow Diagram
- 15. Control Processing B31XP Robotics Project 15 6 DOF
- 16. Control Processing B31XP Robotics Project 16 Ros Driver • "ardrone_autonomy" :ROS driver for Parrot AR- Drone quadrocopter • AR-Drone update frequency at 200Hz • Driver operates in two modes: • real-time : publish information instantly • fixed rate: publish data at a fixed rate
- 17. Control Processing B31XP Robotics Project 17 Sending Control Command • Publishing an Empty ROS messages to the ff topics to takeoff/land and rest – ardrone/takeoff – ardrone/land – ardrone/reset
- 18. Control Processing B31XP Robotics Project 18 Sending Control Command • Publish a message of type geometry_msgs::Twist to velocity command topic
- 19. Control Processing B31XP Robotics Project 19 Obstacle Avoidance Control Algorithm 1. Fly in the x-direction straight. 2. Fly sideways when the obstacle is found in the field of view.
- 20. Agenda • Overview • Related Work • Control Processing • Vision Processing • Future Work B31XP Robotics Project 20
- 21. Vision Processing B31XP Robotics Project 21 Flowchart Extract Features Current Image Filter Features Find Obstacles Select Nearest Obstacle Estimate Position & Orientation of Selected Obstacle Publish Flight Command Previous Image
- 22. Vision Processing B31XP Robotics Project 22 Results - Input After K frames Frame X Frame X+K
- 23. Vision Processing B31XP Robotics Project 23 Results – SURF I After K frames Frame X Frame X+K Tomoyuki Mori and Sebastian Scherer, "First Results in Detecting and Avoiding Frontal Obstacles from a Monocular Camera for Micro Unmanned Aerial Vehicles," International Conference on Robotics and Automation, May, 2013
- 24. Vision Processing B31XP Robotics Project 24 Results – SURF II Matching Result Filtered Matching Result Tomoyuki Mori and Sebastian Scherer, "First Results in Detecting and Avoiding Frontal Obstacles from a Monocular Camera for Micro Unmanned Aerial Vehicles," International Conference on Robotics and Automation, May, 2013
- 25. Vision Processing B31XP Robotics Project 25 Results – Optical Flow (Sparse) Features of 1st Frame Matching Result
- 26. Vision Processing B31XP Robotics Project 26 Results – Optical Flow (Dense) Features of 1st Frame Matching Result Qiyuan Qiu, "Reconnaissance Drone," ECE and ME Spring Senior Design Show and ECE Senior Honors Show, 2013
- 27. Vision Processing B31XP Robotics Project 27 Problems • Computation time of feature matching -> GPU processing (CUDA) in ROS!! • Lack of important features -> Color-based segmentation for tree trunks • Background Noise -> Outdoor pre-processing step (denoising, contrast correction) • No advantage of using color images -> Selection of suitable color space
- 28. Agenda • Overview • Related Work • Control Processing • Vision Processing • Future Work B31XP Robotics Project 28
- 29. Future Work B31XP Robotics Project 29
- 30. B31XP Robotics Project 30
Notas do Editor
- Ref: Appearance-Based Obstacle Detection with Monocular Color Vision