Vision-based Motion Planning for an Autonomous Motorcycle on Ill-Structured

Road

Reporter：鄒嘉恆Date： 08/31/09

Introduction

• Design a vision-based motion planning system for desert terrain.

• The motion planning is based on a vision vector space(V2-space).

• Motivated by the DARPA Grand Challenge.

Outline

• V2-space• Algorithm– V2-Space construction– Motion planning in V2-space

• Experimental results• Conclusion

V2-space

• Pin-hole model：• Video frame F is a matrix of RGB values：

•

Algorithm：V2-space construction

Algorithm：V2-space construction

• Color correction：

Algorithm：V2-space construction

• Surface verification：

• Obstacles detection：

Algorithm：V2-space construction

• Direction extraction：

Algorithm：Motion planning in V2-

space• A point robot with no time delay：

Algorithm：Motion planning in V2-

space• Choose the velocity profile vp(t)• The motorcycle cannot run too fast for a given

trajectory radius R.

Algorithm：Motion planning in V2-space

• Incorporating GPS information：

Algorithm：Vehicle size and processing delay• Vehicle size

Algorithm：Vehicle size and processing

delay• Image processing delay：

Algorithm overview

Experimental results

• From video clip：

Experimental results

• From video clip：

Experimental results

• From video clip：

Experimental results

• Filed tests：

Conclusions

• Propose V2-space, a new framework that represent road feature and allows fast construction and motion planning.

• In the future, they will consider incorporating V2-space in a stereo vision system.