Not-quite-kick-off meeting Not-quite-kick-off meeting
OSU OSU
June 12, 2004 June 12, 2004
Version 1.1 – June 18, 2003 Version 1.1 – June 18, 2003
Sensors Sensors
dGPS (Omnistar?) + inertial navigation systemdGPS (Omnistar?) + inertial navigation system
AttitudeAttitude
CompassCompass
3 lidar3 lidar
1 radar1 radar
CamerasCameras
ProximityProximity
Speed over ground (laser or microwave-based)Speed over ground (laser or microwave-based)
Visual sensors Visual sensors
Two possibilities (depending on FOV): Two possibilities (depending on FOV):
– 3 cameras looking forward and 3 cameras looking forward and 3 looking backward
3 looking backward
– 2 forward, 2 backward, 2 sideways2 forward, 2 backward, 2 sideways
Firewire cameras (DCAM compatible) Firewire cameras (DCAM compatible)
Focal length to be decided Focal length to be decided
Design of case and cleaning sys required Design of case and cleaning sys required
System architecture System architecture
Sensor Sensor (Camera)
(Camera) SensorSensor (Radar)
(Radar) SensorSensor Image
Image Procs’ing
Procs’ing RadarRadar Procs’ing
Procs’ing ProcessProcess 3D3D
Mapping
Mapping 3D3D Mapping
Mapping 3D3D
Mapping Mapping High Level Data Fusion
High Level Data Fusion
Trajectory Generation Trajectory Generation
Actuators Actuators
Drivers Drivers Control Control System System
Attitude Attitude Sensor Sensor
……
Info about previous resultInfo about previous result Vehicle pitch, roll, yaw,…Vehicle pitch, roll, yaw,…
Ethernet
Ethernet EthernetEthernet
Ethernet Ethernet
EthernetEthernetEthernetEthernet
Initial Initial PathPath Planning Planning
Functionalities Functionalities
Vision: Vision:
– Path detectionPath detection
– Free space detection (?)Free space detection (?)
using stereo and vehicle attitude data using stereo and vehicle attitude data – Possibly also bridge approach warningPossibly also bridge approach warning
Timeline Timeline
Early July:Early July: trip to YUMA to get pictures trip to YUMA to get pictures
Mid July:Mid July: truck delivery (drive-by-wire ready?) truck delivery (drive-by-wire ready?)
Early Oct: Early Oct: subsystem working autonomously w/subsystem working autonomously w/
GPS and inertial system on flat terrain GPS and inertial system on flat terrain
Nov/Dec:Nov/Dec: integration of all sensors and first tests integration of all sensors and first tests
Jan:Jan: tests at YUMA tests at YUMA
Feb:Feb: vehicle back to OSU? vehicle back to OSU?
Mar:Mar: race race
Interaction UniPR-OSU Interaction UniPR-OSU
Info from UniPR to OSU:Info from UniPR to OSU:
– As soon as possible, camera specsAs soon as possible, camera specs
– Early July: specs on how to acquire images at YUMAEarly July: specs on how to acquire images at YUMA
Travels of UniPR personnel to OSU:Travels of UniPR personnel to OSU:
– Possible for UniPR (non-US citizens) to join YUMA Possible for UniPR (non-US citizens) to join YUMA image acquisition champaign in early July?
image acquisition champaign in early July?
– Nov. for system integrationNov. for system integration – Jan. for testsJan. for tests
– Feb. for tuning (?)Feb. for tuning (?) – Mar. for raceMar. for race
Misc Misc
Creation of alias Creation of alias [email protected] [email protected]
Creation of similar alias at OSU? Creation of similar alias at OSU?
