Zereik E., Biggio A., Merlo A. and Casalino G. EUCASS 2011 – 4-8 July, St. Petersburg, Russia

Introduction TBRA Overview Objectives Architecture / Technical Description Perception Capability DEM and Data Fusion Test Results Conclusion EUCASS 2011 – 4-8 July, St. Petersburg, Russia Agenda

Introduction Rover GNC: Navigation Localisation Trajectory Control Reach goal Safe and best path Environment perception EUCASS 2011 – 4-8 July, St. Petersburg, Russia

TBRA Overview TBRA innovative aspects Flexibility Flexibility modular software architecture each module provides a key functionality of the GNC Modularity Modularity Resulting from the standardization of the interfaces and data structures exchanged between the software modules No “ad-hoc development” typical of space applications

Project Objectives experience Acquisition of experience in robotics for space exploration Team Growth Validation Testing Validation and Testing of GNC algorithms Complete mobile robotic platform development New New solutions for the space market No “start from scratch” Support to programs, project and study development Anticipate Anticipate future exploration mission needs Innovative Sensors (Omni-camera, Time-of-flight Camera, …) Robot Swarms Manipulation Samples Fetching and Handling Opportunistic Science Reactive Navigation Simultaneous Localization and mapping (SLAM) … EUCASS 2011 – 4-8 July, St. Petersburg, Russia

Functional Overview EUCASS 2011 – 4-8 July, St. Petersburg, Russia

Architecture

Robotic Setup EUCASS 2011 – 4-8 July, St. Petersburg, Russia

Localisation – Visual Odometry Navigation – Path Planning Navigation – Traversability Navigation – Perception Single Functionality Testing

EUCASS 2011 – 4-8 July, St. Petersburg, Russia Perception Capability

Single Perception EUCASS 2011 – 4-8 July, St. Petersburg, Russia

Single Reconstruction EUCASS 2011 – 4-8 July, St. Petersburg, Russia

frames,, and located in the same point A function of pan/tilt angles contribution also to translation as the camera does not rotate with respect to its reference frame origin EUCASS 2011 – 4-8 July, St. Petersburg, Russia PTU Model

Multiple Perception EUCASS 2011 – 4-8 July, St. Petersburg, Russia

Multiple Reconstruction EUCASS 2011 – 4-8 July, St. Petersburg, Russia

navigable blue means navigable, red means obstacleunknown obstacle, black means unknown 400 x 400 (pxl) planar image rover located at the image centre each pixel represents a world area of 5 cm x 5 cm black pixels just behind the box due to the occlusion of the box itself EUCASS 2011 – 4-8 July, St. Petersburg, Russia Camera Digital Elevation Model

3DLS Digital Elevation Model EUCASS 2011 – 4-8 July, St. Petersburg, Russia sparse after 2-3 m 0.25 deg 3DLS angular resolution 10 deg/s speed resolution limited to reduce perception time

Data Fusion Data fusion policies: Visual DEM or Laser DEM only no fusion at all higher priority Both DEMs but Vision has the higher priority higher priority Both DEMs but Laser has the higher priority Merging Merging of both DEMs Filtering Filtering strategy for Noise Mismatched correspondences Bad illumination EUCASS 2011 – 4-8 July, St. Petersburg, Russia

Single Sensor DEM Filtering (Median,…) Apply the filtering to each point from the sensor Assign each computed value to the final DEM EUCASS 2011 – 4-8 July, St. Petersburg, Russia

Multiple Sensor DEM Apply the filtering to each point from the higher priority sensor If the pixel is invalid, filter the corresponding value from the other sensor Assign the computed value to the final DEM EUCASS 2011 – 4-8 July, St. Petersburg, Russia

Weighted Merging confidence Each pixel of each sensor DEM assigned to a confidence according to some criteria: less considered points far away from the camera located at the very side of the camera field of view weighted Perform a weighted fusion Data filtering improve DEM accuracy avoid errors such as false obstacle detectionBUT be careful not to delete obstacles!!!

Conclusions EUCASS 2011 – 4-8 July, St. Petersburg, Russia Rover: Autonomous navigation both indoor and outdoor Many GNC sensors integrated New GNC sensors and (functionalities) to be added Omni-camera Time-of-Flight Camera Manipulator Focus on algorithms only Portability on different platform No “ad hoc” development No “from scratch” development Testing and Validation Tool

Questions? EUCASS 2011 – 4-8 July, St. Petersburg, Russia