Overview of autonomous vehicle related activities D.Gibbins, October 2010

Sensor Signal Processing Group, EEE dept, Adelaide Uni, October 2010 SSP Group Overview Team 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 etc Focus 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 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 South East Measured Van Location Unprotected Receiver Measurements Protected Receiver Measurements

Sensor Signal Processing Group, EEE dept, Adelaide Uni, October 2010 UAV surveillance & targeting Electro-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 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 D 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 planning Treats locales of interest as measurements and UGV platforms as targets Attempts to optimise search across multiple UGV’s z1z1 znzn k1;πkk1;πk kn;πkkn;πk Waypoint to platform assignments Waypoints Platfor m States x01x01 x11x11 τ1;πττ1;πτ τt;πττt;πτ Waypoint to time assignments x0mx0m xT1xT1 xTmxTm z2z2 k2;πkk2;πk τ2;πττ2;πτ x1mx1m  Example of path planning for 4 UGV’s based on random locations of interest