Decentralized Sensor Fusion for Ubiquitous Robotics in Urban Areas
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1 Decentralized Sensor Fusion for Ubiquitous Robotics in Urban Areas Alberto Sanfeliu Director Institut de Robòtica i Informàtica Industrial (IRI) (CSIC-UPC) Artificial Vision and Inteligent System Group (VIS) Universitat Politècnica de Catalunya June
2 URUS project Ubiquitous Networking Robotics in Urban Settings
3 Objectives: URUS Project Objectives The main objective is to develop an adaptable network robot architecture which integrates the basic functionalities required for a network robot system to do urban tasks 1. Scientific and technological objectives - Specifications in Urban areas - Cooperative localization and navigation - Cooperative environment perception - Cooperative map building and updating - Human robot interaction - Multi-task allocation - Wireless communication in Network Robots - 2. Experiment objectives - Guiding and transportation of people - Surveillance: Evacuation of people
4 Experiment Locations
5 Experiment Locations: Scenario 1 UPC Zone Campus Nord, UPC Barcelona ROBOT Lab
6 5 6 Barcelona ROBOT Lab Campus Nord, UPC m m
7
8 Robots
9 Experiments
10 Urban experiments: WP8 Experiments: Experiments Transportation of people: Taxi Transporting of small objects Guiding people WP9 Experiments Coordinate guiding of a group of people Coordinate stewarding
11 System Architecture and Communications
12 URUS Global Architecture URUS_rot3D.exe Ethernet (Gb) Robot 1 Robot 2 Robot N Functional Layer Functional Layer Functional Layer Supervisor Task Allocation WLAN GSM/3G Supervisor Task Allocation WLAN GSM/3G Supervisor Task Allocation WLAN GSM/3G Blue Tooth Mica2/Ethernet network Ethernet Task Allocation Central Station Environment Perception GSM/3G Interface GSM/3G Network Global Supervision
13 URUS Communication Systems IEEE a IEEE a
14 COMM Component
15 High Level Operations for Reply-Request and Data Feed Communications
16 Communications: Ad hoc Networking Ad-hoc networking for Cooperative Navigation using RT-WMP protocol
17 Sensors in Urban Sites: URUS Camera Network
18 Calibration of Cameras SubNet cameras 15 &16
19 Calibration of Cameras
20 URUS Fixed Camera Network 21 cameras with little camera overlap Shadows challenging Delineates foreground objects from non-stationary background e.g trees
21 Sensors in Urban Sites: URUS Zigbee (Mica2) Sensors
22 URUS Zigbee (Mica2) Sensors
23 Localization using WSN Localization based on signal strength
24 Localization with WSN
25 Building Urban Sites Maps
26 3D Mapping for Service Robots A much needed step, usually neglected in SLAM implementations, is to compute maps useful for robot path planning and navigation. The intended application of this work is to provide maps for URUS project.
27 Obtaining 3D Information UPC 3D ranger scan
28 3D Mapping for Service Robots Data acquisition ICP alignment 6DOF SLAM Traversability map
29 3D Mapping results Video: 2009_Ela_ECMR_Exp2.mov Accumulated localization error is reduced by clossing a total of 19 loops.
30 3D Mapping results
31 3D Mapping results Results are compared to manually built CAD model. The CAD model was made using geo-referenced information.
32 Traversability Map 2D layer at the robot s frontal laser height Grid map Laser height
33 Traversability Map
34 Robot Architecture & Sensors
35 Tibi & Dabo Robot Sensors
36 Tibi & Dabo Robot Architecture
37 Romeo Architecture and Sensors
38 Decentralized Sensor Fusion
39 Decentralized Data Fusion Information channels Data association Data fusion Data association Data fusion Data association Data fusion Local Processing Active Perception Robot Local Processing Active Perception Camera Network Local Processing Active Perception Wireless Sensor Network
40 Decentralized Sensor Fusion
41 Cooperative Localization and Navigation
42 Localization using: GIS, Compass, laser, estereo multiple robots ubiquitous sensors Navigation: Using GIS, laser, compass Own and embedded sensors Cooperative Localization and Navigation
43 Cooperative Localization and Navigation Robot localization using active global localisation [Corominas et al ICRA08]
44 Localization
45 Localization using WSN Localization based on signal strength
46 Cooperative Localization and Navigation Localization, navigation and obstacle avoidance of robots using GIS and laser information
47 Cooperative Environment Perception
48 Cooperative Environment Perception Cooperative perception using: embedded and own sensors fusion techniques and technologies Cooperative environment perception
49 Person Tracking with Fixed Cameras 21 cameras with little camera overlap Shadows challenging Delineates foreground objects from non-stationary background e.g trees
50 Tracking Example
51 Tracking Example
52 Gesture Detection
53 Person and Robot Detection
54 Tracking with Cast Shadows
55 Cooperative People Guiding
56 Cooperative People Guiding Guiding people by robots
57 Cooperative People Guiding Dog shepherding Robot formation
58 Robot formation Cooperative People Guiding: Using Robot Formation leader Path planning Obstacle avoidance Slave robots Specific motion control
59 Cooperative People Guiding: Using Robot Formation
60 Robot formation Cooperative People Guiding: Robot Formation [Mosteo et al. ICRA08]
61 Cooperative People Guiding: Dog Shepherding Dog shepherding
62 Cooperative People Guiding: Dog Shepherding Method DTM model of Local Environment [Garrell and Sanfeliu, 2008]
63 Cooperative People Guiding: Dog Shepherding Simulation results
64 Cooperative People Guiding: Dog Shepherding Simulation results Guia_personas_Anais_3.avi
65 Cooperative People Guiding: Strategies to Guide People Simulation results icra_garrell2.mpg
66 Experiments
67 Experiments
68 Experiments
69 Experiments
70 Experiments
71 Experiments
72 Demonstration in Passeig de Sant Joan, Barcelona
73 Tibi & Dabo in TV
74 Urban Robotics: First Steps How long we will take to unleash robots in cities?
75 References Alberto Sanfeliu, Juan Andrade-Cetto, Marco Barbosa, Richard Bowden, Jesús Capitán, Andreu Corominas, Andrew Gilbert, John Illingworth, Luis Merino, Josep M. Mirats, Plínio Moreno, Aníbal Ollero, Joao Sequeira and Matthijs T.J. Spaan, Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas, Sensors 2010, 10, ; doi: /s
76 Thank You
Cooperative Environment Perception in the URUS project Prof. Alberto Sanfeliu
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