FlightGoggles: A Modular Framework for Photorealistic Camera, Exteroceptive Sensor, and Dynamics Simulation

FlightGoggles is a photorealistic sensor simulator for perception-driven robotic vehicles. The key contributions of FlightGoggles are twofold. First, FlightGoggles provides photorealistic exteroceptive sensor simulation using graphics assets generated with photogrammetry. Second, it provides the ability to combine (i) synthetic exteroceptive measurements generated in silico in real time and (ii) vehicle dynamics and proprioceptive measurements generated in motio by vehicle(s) in a motion-capture facility. FlightGoggles is capable of simulating a virtual-reality environment around autonomous vehicle(s). While a vehicle is in flight in the FlightGoggles virtual reality environment, exteroceptive sensors are rendered synthetically in real time while all complex extrinsic dynamics are generated organically through the natural interactions of the vehicle. The FlightGoggles framework allows for researchers to accelerate development by circumventing the need to estimate complex and hard-to-model interactions such as aerodynamics, motor mechanics, battery electrochemistry, and behavior of other agents. The ability to perform vehicle-in-the-loop experiments with photorealistic exteroceptive sensor simulation facilitates novel research directions involving, e.g., fast and agile autonomous flight in obstacle-rich environments, safe human interaction, and flexible sensor selection. FlightGoggles has been utilized as the main test for selecting nine teams that will advance in the AlphaPilot autonomous drone racing challenge. We survey approaches and results from the top AlphaPilot teams, which may be of independent interest.Comment: Initial version appeared at IROS 2019. Supplementary material can be found at https://flightgoggles.mit.edu. Revision includes description of new FlightGoggles features, such as a photogrammetric model of the MIT Stata Center, new rendering settings, and a Python AP

Real-time on-board obstacle avoidance for UAVs based on embedded stereo vision

In order to improve usability and safety, modern unmanned aerial vehicles (UAVs) are equipped with sensors to monitor the environment, such as laser-scanners and cameras. One important aspect in this monitoring process is to detect obstacles in the flight path in order to avoid collisions. Since a large number of consumer UAVs suffer from tight weight and power constraints, our work focuses on obstacle avoidance based on a lightweight stereo camera setup. We use disparity maps, which are computed from the camera images, to locate obstacles and to automatically steer the UAV around them. For disparity map computation we optimize the well-known semi-global matching (SGM) approach for the deployment on an embedded FPGA. The disparity maps are then converted into simpler representations, the so called U-/V-Maps, which are used for obstacle detection. Obstacle avoidance is based on a reactive approach which finds the shortest path around the obstacles as soon as they have a critical distance to the UAV. One of the fundamental goals of our work was the reduction of development costs by closing the gap between application development and hardware optimization. Hence, we aimed at using high-level synthesis (HLS) for porting our algorithms, which are written in C/C++, to the embedded FPGA. We evaluated our implementation of the disparity estimation on the KITTI Stereo 2015 benchmark. The integrity of the overall realtime reactive obstacle avoidance algorithm has been evaluated by using Hardware-in-the-Loop testing in conjunction with two flight simulators.Comment: Accepted in the International Archives of the Photogrammetry, Remote Sensing and Spatial Information Scienc

A Review on Software Architectures for Heterogeneous Platforms

The increasing demands for computing performance have been a reality regardless of the requirements for smaller and more energy efficient devices. Throughout the years, the strategy adopted by industry was to increase the robustness of a single processor by increasing its clock frequency and mounting more transistors so more calculations could be executed. However, it is known that the physical limits of such processors are being reached, and one way to fulfill such increasing computing demands has been to adopt a strategy based on heterogeneous computing, i.e., using a heterogeneous platform containing more than one type of processor. This way, different types of tasks can be executed by processors that are specialized in them. Heterogeneous computing, however, poses a number of challenges to software engineering, especially in the architecture and deployment phases. In this paper, we conduct an empirical study that aims at discovering the state-of-the-art in software architecture for heterogeneous computing, with focus on deployment. We conduct a systematic mapping study that retrieved 28 studies, which were critically assessed to obtain an overview of the research field. We identified gaps and trends that can be used by both researchers and practitioners as guides to further investigate the topic

A General-Purpose Graphics Processing Unit (GPGPU)-Accelerated Robotic Controller Using a Low Power Mobile Platform

Robotic controllers have to execute various complex independent tasks repeatedly. Massive processing power is required by the motion controllers to compute the solution of these computationally intensive algorithms. General-purpose graphics processing unit (GPGPU)-enabled mobile phones can be leveraged for acceleration of these motion controllers. Embedded GPUs can replace several dedicated computing boards by a single powerful and less power-consuming GPU. In this paper, the inverse kinematic algorithm based numeric controllers is proposed and realized using the GPGPU of a handheld mobile device. This work is the extension of a desktop GPU-accelerated robotic controller presented at DAS’16 where the comparative analysis of different sequential and concurrent controllers is discussed. First of all, the inverse kinematic algorithm is sequentially realized using Arduino-Due microcontroller and the field-programmable gate array (FPGA) is used for its parallel implementation. Execution speeds of these controllers are compared with two different GPGPU architectures (Nvidia Quadro K2200 and Nvidia Shield K1 Tablet), programmed with Compute Unified Device Architecture (CUDA) computing language. Experimental data shows that the proposed mobile platform-based scheme outperform s the FPGA by 5 and boasts a 100 speedup over the Arduino-based sequential implementation

Vision-Based Path Finding Strategy of Unmanned Aerial Vehicles for Electrical Infrastructure Purpose

In this chapter we present the development of automated visual inspection systems for electrical infrastructure. The inspection is performed using images acquired with an unmanned aerial vehicle (UAV). Through automated inspection routes, the state of the infrastructure can be evaluated and then the appropriate correcting measures be taken. The monitoring of power lines can be done using passive sensors such as cameras or active sensors such as light detection and ranging (LIDAR) cameras, image processing techniques, computer vision and control systems can then be used. Additionally, a three-dimensional (3D) reconstruction process is possible using images either offline or during the monitoring. An UAV with an onboard embedded computer is used to execute the computer vision and path planning algorithms. The work done shows that the proposed strategy aids in the automation of power line inspection

RobotPerf: An Open-Source, Vendor-Agnostic, Benchmarking Suite for Evaluating Robotics Computing System Performance

We introduce RobotPerf, a vendor-agnostic benchmarking suite designed to evaluate robotics computing performance across a diverse range of hardware platforms using ROS 2 as its common baseline. The suite encompasses ROS 2 packages covering the full robotics pipeline and integrates two distinct benchmarking approaches: black-box testing, which measures performance by eliminating upper layers and replacing them with a test application, and grey-box testing, an application-specific measure that observes internal system states with minimal interference. Our benchmarking framework provides ready-to-use tools and is easily adaptable for the assessment of custom ROS 2 computational graphs. Drawing from the knowledge of leading robot architects and system architecture experts, RobotPerf establishes a standardized approach to robotics benchmarking. As an open-source initiative, RobotPerf remains committed to evolving with community input to advance the future of hardware-accelerated robotics