overview of autonomous vehicle related activities d.gibbins, october 2010
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Sensor Signal Processing Group (EEE, Adelaide Uni)
Overview of autonomous vehicle related activities
D.Gibbins, October 2010
Sensor Signal Processing Group, EEE dept, Adelaide Uni, October 2010
SSP Group OverviewTeam of 4-5 researchers plus Phd Students (Research Leader: Prof.
D.A.Gray)
Specialising in Signal (& Information) Processing Radar (L-band, SAR, ISAR , phased-array, MIMO) Electro-optical, LIDAR/LADAR, Sonar sensors etc.. GPS/INS Target classification, recognition, 2D image and 3D scene analysis,
route planning etcFocus on applications related to Autonomous vehicles
GPS Anti-jam, jammer localisation (single/multiple UAV’s) Sensor fusion, path planning using PMHT, SLAM etc... Terrain & scene analysis Target recognition (2D & 3D) – apps in aerial surveillance
Radar sensors for autonomous vehicles (research interest) Detection/mapping/collision avoidance?
Sensor Signal Processing Group, EEE dept, Adelaide Uni, October 2010
Angular Separation of Sources (degrees)
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Beampattern as Mobile Interference Approaches North Camp
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Angular Separation of Sources (degrees)
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Conventional and improved interference localisation
GPS Interference Mitigation &
Localisation for UAV applications Temporal, spatial and STAP
processing– Adaptive beam-forming– Null steering– DOA estimation
Successful anti-jam trials held in Woomera in presence of multiple interference sources
Ongoing development of compact anti-jam hardware for aerial platforms
Principle Researcher: Matthew Trinkle
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Sensor Signal Processing Group, EEE dept, Adelaide Uni, October 2010
UAV surveillance & targetingElectro-optical Seeker Target
Recognition (DSTO sponsored)
Static land based & littoral moving targets etc
LADAR/LIDAR terrain reconstruction and classification (DSTO sponsored)
Stabilisation, reconstruction & scene analysis for apps such as route planning, situation awareness etc
LADAR/LIDAR 3D target recognition (DSTO &
self funded R&D)
ICP registration, SIFT matching, correlation based etc (high res and more recently low-resolution data)
Video based stabilisation/super-resolution/geo-location (DSTO sponsored)
Principle Researcher: Danny Gibbins
Sensor Signal Processing Group, EEE dept, Adelaide Uni, October 2010
“A Comparison of Terrain Classification using Local Feature measurements of 3-Dimensional
Colour Point-cloud Data” D.Gibbins IVCNZ 2009.
EO Mid-course Navigation, LADAR Terrain Analysis & Classification
Example of EO Model Recognition for navigation correction – Real Data
3D Terrain reconstruction from airborne LADAR & optical data
Sensor Signal Processing Group, EEE dept, Adelaide Uni, October 2010
3D Sift feature analysis
3D Sift feature matching
3D LADAR/LIDAR Target Recognition (& registration)
“3D Target Recognition Using 3-Dimensional SIFT or Curvature Key-points and Local Spin
Descriptors” D.Gibbins DASP 2009.
Sensor Signal Processing Group, EEE dept, Adelaide Uni, October 2010
PMHT Path Planning for UGV’s (Cheung,Davey,Gray)
Probabilistic multi-hypothesis tracking for UGV path planningTreats locales of interest
as measurements and UGV platforms as targets
Attempts to optimise search across multiple UGV’s
z1 zn
k1;πk kn;πk
Waypoint to platform
assignments
Waypoints
Platform
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time assignments
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Example of path planning for 4 UGV’s based on random locations of interest