IRR@IU Update Team Tasks VCS Vision Sensor Network AI 10-Dec-04 SDJ.SDML.CS.IUB

IRR@IU Team Changes Faculty: Steve Johnson, Florin Cutzu Staff: Bryce Himebaugh PhD: Arnab Dhua, Todd Holloway, Alex Leykin MS: Matt Ira, Corey Bowers “Project Seminar” added for Spring, soliciting more student involvement Some current participants may return to the project in April. Discussions with PTL ongoing Indications of help ($) from PTL, Informatics Caution: Johnson & Himebaugh have increased teaching/support loads in Spring. 10-Dec-04 SDJ.SDML.CS.IUB

VCS Task Control I/F between navigation system and physical system VCS node: network communicaiton VCM card: digital interface (RT)Linux, C, ASM, hardware Integration Testing on model, preparing for Jeep. STATUS: operational but primitive functionality. 10-Dec-04 SDJ.SDML.CS.IUB

VCS: VCS Node Application level Xcvr handles network communcation and message translation. Command process does low-level command processing, enforces control rules, monitors constraints. Strictly periodic, real-time. 10-Dec-04 SDJ.SDML.CS.IUB

VCS: Vehicle Control Module MSP430 based controller Mostly C Still being modified for Jeep, model. Control rules, timing will migrate down over time. 10-Dec-04 SDJ.SDML.CS.IUB

VCS: Test Harness Main purpose: regression testing (nothing fancy; minimize development effort) Alternate purpose: enable AI experimentation (more later) Goal: close GPS loop in coming weeks. Goal: set up distruted integration testing. 10-Dec-04 SDJ.SDML.CS.IUB

VCS: Outlook Integration process has been typical Test, test, test As the Jeep comes on line, Failure mode analysis Redundant shut-down functions Test site management Benchmark (simulation) model is useful Needs to be functionally consistent Does not need to be accurate Additional vehicles? 10-Dec-04 SDJ.SDML.CS.IUB

Vision Preliminary results from Cutzu, Leykin PG stereo- & mono-scopic cameras (just arr.) Priorities Obstacle detection Road finding Orientation (tower finding, etc.) Results posted on IRR@IU hub site Far to go Possible data acquisition excursion in 2-3 weeks. 10-Dec-04 SDJ.SDML.CS.IUB

Vision: Road Finding (Cutzu) “Simple nearest-neighbor scheme no geometrical information no intensity information slow 10-Dec-04 SDJ.SDML.CS.IUB

Vision: Road Finding/Vanishing Point (Leykin) X X X X 10-Dec-04 SDJ.SDML.CS.IUB

Vision: Horizon Line (Leykin) “it definitely runs in real time” example does not extract a “feature”; just draws a line 10-Dec-04 SDJ.SDML.CS.IUB

Vision: Stereo Ranging (Leykin) 10-Dec-04 SDJ.SDML.CS.IUB

Sensor (Video) Network “one sensor, one node, one person” 10-Dec-04 SDJ.SDML.CS.IUB

Sensor (Video) Network Bumblebee configuration: two image streams, self synchronized via Firewire Stereo differencing in software may consume most of a CPU Other stereo configurations may require video stream fusion, at least. Ranging is just one filter, from which multiple features are derived. And this is just video… 10-Dec-04 SDJ.SDML.CS.IUB

Sensor (Video) Network One or more sensor networks are needed. Partial functionality will be needed by the April visit. At present, IU team lacks the means to accomplish this This is a potential IP development area for IRR LLC It also appears to be “fund-worthy” on a limited scale. 10-Dec-04 SDJ.SDML.CS.IUB

Sensor (Video) Network: Approach Data synchronous: data flow guarantees fusion Demand oriented: flow governs acquisition rate Opportunities for innovation in specification languages, design/analysis tools, implementation processes. 10-Dec-04 SDJ.SDML.CS.IUB

AI Control Support Prototyping & Experimentation still far off. Need vehicle, “realistic” sensory input, and a means to train Used NNs and will use CBR in simulation model (Holloway) Pf-of-Principle demos using XPlane (Holloway) Need to keep AI “in the game”. It is where IRR LLC has commercial prospects 10-Dec-04 SDJ.SDML.CS.IUB