Percepción basada en visión estereoscópica, planificación de trayectorias y estrategias de navegación para exploración robótica autónoma

Tesis inédita de la Universidad Complutense de Madrid, Facultad de Informática, Departamento de Ingeniería del Software e Inteligencia artificial, leída el 13-05-2015En esta tesis se trata el desarrollo de una estrategia de navegación autónoma basada en visión artificial para exploración robótica autónoma de superficies planetarias. Se han desarrollado una serie de subsistemas, módulos y software específicos para la investigación desarrollada en este trabajo, ya que la mayoría de las herramientas existentes para este dominio son propiedad de agencias espaciales nacionales, no accesibles a la comunidad científica. Se ha diseñado una arquitectura software modular multi-capa con varios niveles jerárquicos para albergar el conjunto de algoritmos que implementan la estrategia de navegación autónoma y garantizar la portabilidad del software, su reutilización e independencia del hardware. Se incluye también el diseño de un entorno de trabajo destinado a dar soporte al desarrollo de las estrategias de navegación. Éste se basa parcialmente en herramientas de código abierto al alcance de cualquier investigador o institución, con las necesarias adaptaciones y extensiones, e incluye capacidades de simulación 3D, modelos de vehículos robóticos, sensores, y entornos operacionales, emulando superficies planetarias como Marte, para el análisis y validación a nivel funcional de las estrategias de navegación desarrolladas. Este entorno también ofrece capacidades de depuración y monitorización.La presente tesis se compone de dos partes principales. En la primera se aborda el diseño y desarrollo de las capacidades de autonomía de alto nivel de un rover, centrándose en la navegación autónoma, con el soporte de las capacidades de simulación y monitorización del entorno de trabajo previo. Se han llevado a cabo un conjunto de experimentos de campo, con un robot y hardware real, detallándose resultados, tiempo de procesamiento de algoritmos, así como el comportamiento y rendimiento del sistema en general. Como resultado, se ha identificado al sistema de percepción como un componente crucial dentro de la estrategia de navegación y, por tanto, el foco principal de potenciales optimizaciones y mejoras del sistema. Como consecuencia, en la segunda parte de este trabajo, se afronta el problema de la correspondencia en imágenes estéreo y reconstrucción 3D de entornos naturales no estructurados. Se han analizado una serie de algoritmos de correspondencia, procesos de imagen y filtros. Generalmente se asume que las intensidades de puntos correspondientes en imágenes del mismo par estéreo es la misma. Sin embargo, se ha comprobado que esta suposición es a menudo falsa, a pesar de que ambas se adquieren con un sistema de visión compuesto de dos cámaras idénticas. En consecuencia, se propone un sistema experto para la corrección automática de intensidades en pares de imágenes estéreo y reconstrucción 3D del entorno basado en procesos de imagen no aplicados hasta ahora en el campo de la visión estéreo. Éstos son el filtrado homomórfico y la correspondencia de histogramas, que han sido diseñados para corregir intensidades coordinadamente, ajustando una imagen en función de la otra. Los resultados se han podido optimizar adicionalmente gracias al diseño de un proceso de agrupación basado en el principio de continuidad espacial para eliminar falsos positivos y correspondencias erróneas. Se han estudiado los efectos de la aplicación de dichos filtros, en etapas previas y posteriores al proceso de correspondencia, con eficiencia verificada favorablemente. Su aplicación ha permitido la obtención de un mayor número de correspondencias válidas en comparación con los resultados obtenidos sin la aplicación de los mismos, consiguiendo mejoras significativas en los mapas de disparidad y, por lo tanto, en los procesos globales de percepción y reconstrucción 3D.Depto. de Ingeniería de Software e Inteligencia Artificial (ISIA)Fac. de InformáticaTRUEunpu

Mars Tumbleweed: FY2003 Conceptual Design Assessment

NASA LaRC is studying concepts for a new type of Mars exploration vehicle that would be propelled by the wind. Known as the Mars Tumbleweed, it would derive mobility through use of the Martian surface winds. Tumbleweeds could conceivably travel greater distances, cover larger areas of the surface, and provide access to areas inaccessible by conventional vehicles. They would be lightweight and relatively inexpensive, allowing a multiple vehicle network to be deployed on a single mission. Tumbleweeds would be equipped with sensors for conducting science and serve as scouts searching broad areas to identify specific locations for follow-on investigation by other explorers. An extensive assessment of LaRC Tumbleweed concepts was conducted in FY03, including refinement of science mission scenarios, definition of supporting subsystems (structures, power, communications), testing in wind tunnels, and development of a dynamic simulation capability

Annual meeting of the Lunar Exploration Analysis Group : October 14-16, 2013, Laurel, Maryland

Data from an array of international lunar missions have significantly changed our understanding of many lunar processes and revealed the complex nature of the lunar poles and the distribution of volatiles on the surface. While answering many questions, those data have raised many more. The focus of the 2013 LEAG Annual Meeting will be developing an understanding of the scientific questions, measurement techniques, and options for exploring the Moon with Discovery-class missions or with payloads flown on international or commercial missions.institutional support NASA Lunar Exploration Analysis Group ... [and others] ; conveners, Jeffrey Plescia ... [and others] ; scientific organizing committee, Jeffrey Plescia ... [and others]PARTIAL CONTENTS: Overview of Results from the Lunar Reconnaissance Orbiter (LRO) Lunar Exploration Neutron Detector (LEND) Instrument / R.Z. Sagdeev, W.V. Boynton, G. Chin, M. Litvak, T.A. Livengood, T.P. McClanahan, I.G. Mitrofanov, and A.B. Sanin--Lunar Polar ISRU as a Stepping Stone for Human Exploration / G.B. Sanders--Dose Spectra from Energetic Particles and Neutrons (DoSEN) / S. Smith, N.A. Schwadron, C. Bancroft, P. Bloser, J. Legere, J. Ryan, H. Spence, J. Mazur, and C. Zeitlin

Climbing and Walking Robots

With the advancement of technology, new exciting approaches enable us to render mobile robotic systems more versatile, robust and cost-efficient. Some researchers combine climbing and walking techniques with a modular approach, a reconfigurable approach, or a swarm approach to realize novel prototypes as flexible mobile robotic platforms featuring all necessary locomotion capabilities. The purpose of this book is to provide an overview of the latest wide-range achievements in climbing and walking robotic technology to researchers, scientists, and engineers throughout the world. Different aspects including control simulation, locomotion realization, methodology, and system integration are presented from the scientific and from the technical point of view. This book consists of two main parts, one dealing with walking robots, the second with climbing robots. The content is also grouped by theoretical research and applicative realization. Every chapter offers a considerable amount of interesting and useful information

A Drift-Resilient and Degeneracy-Aware Loop Closure Detection Method for Localization and Mapping In Perceptually-Degraded Environments

Enabling fully autonomous robots capable of navigating and exploring unknown and complex environments has been at the core of robotics research for several decades. Mobile robots rely on a model of the environment for functions like manipulation, collision avoidance and path planning. In GPS-denied and unknown environments where a prior map of the environment is not available, robots need to rely on the onboard sensing to obtain locally accurate maps to operate in their local environment. A global map of an unknown environment can be constructed from fusion of local maps of temporally or spatially distributed mobile robots in the environment. Loop closure detection, the ability to assert that a robot has returned to a previously visited location, is crucial for consistent mapping as it reduces the drift caused by error accumulation in the estimated robot trajectory. Moreover, in multi-robot systems, loop closure detection enables finding the correspondences between the local maps obtained by individual robots and merging them into a consistent global map of the environment. In ambiguous and perceptually-degraded environments, robust detection of intra- and inter-robot loop closures is especially challenging. This is due to poor illumination or lack-thereof, self-similarity, and sparsity of distinctive perceptual landmarks and features sufficient for establishing global position. Overcoming these challenges enables a wide range of terrestrial and planetary applications, ranging from search and rescue, and disaster relief in hostile environments, to robotic exploration of lunar and Martian surfaces, caves and lava tubes that are of particular interest as they can provide potential habitats for future manned space missions. In this dissertation, methods and metrics are developed for resolving location ambiguities to significantly improve loop closures in perceptually-degraded environments with sparse or undifferentiated features. The first contribution of this dissertation is development of a degeneracy-aware SLAM front-end capable of determining the level of geometric degeneracy in an unknown environment based on computing the Hessian associated with the computed optimal transformation from lidar scan matching. Using this crucial capability, featureless areas that could lead to data association ambiguity and spurious loop closures are determined and excluded from the search for loop closures. This significantly improves the quality and accuracy of localization and mapping, because the search space for loop closures can be expanded as needed to account for drift while decreasing rather than increasing the probability of false loop closure detections. The second contribution of this dissertation is development of a drift-resilient loop closure detection method that relies on the 2D semantic and 3D geometric features extracted from lidar point cloud data to enable detection of loop closures with increased robustness and accuracy as compared to traditional geometric methods. The proposed method achieves higher performance by exploiting the spatial configuration of the local scenes embedded in 2D occupancy grid maps commonly used in robot navigation, to search for putative loop closures in a pre-matching step before using a geometric verification. The third contribution of this dissertation is an extensive evaluation and analysis of performance and comparison with the state-of-the-art methods in simulation and in real-world, including six challenging underground mines across the United States

Records of Disaster: Media Infrastructures and Climate Change

'Records of Disasters: Media Infrastructures and Climate Change' explores how environmental disasters manifest and inscribe themselves in infrastructures. By turning to infrastructures, their logic and functioning, collapse and malfunction, the volume reveals their potential as fragile material witnesses to and of disasters. As climate change is unequally distributed across continuous dynamics and events, time scales and spatial registers, infrastructures can be understood as proxies or seismographs mediating different spatio-temporal layers that make these dynamics tangible. Disaster is made operational by negotiating what is defined as such, and under which geopolitical conditions. What connects melting glaciers and the knowledge from ice cores to the mapping of the ocean floor and the extraction of resources in the deep-sea? How can infrastructures be thought in time and "critical proximity", and how do they bear witness to colonial pasts and presents? The volume proposes an analytical perspective on infrastructures as multi-layered witnesses to climate change, bringing together scientific and artistic approaches, students and scholars from different disciplines

Layered graphical models for tracking partially-occluded moving objects in video (PhD thesis)

Tracking multiple targets using fixed cameras with non-overlapping views is a challenging problem. One of the challenges is predicting and tracking through occlusions caused by other targets or by fixed objects in the scene. Considerable effort has been devoted toward developing appearance models that are robust to partial occlusions, tracking algorithms that cope with short-term loss of observations, and algorithms that learn static occlusion maps. In this thesis we consider scenarios where it is impossible to learn a static occlusion map. This is often the case when the scene consists of both people and large objects whose position is not permanently fixed. These objects may enter, leave or relocate within the scene during a short time span. We call such objects "relocatable objects" or "relocatable occluders." We develop a representation for scenes containing relocatable objects that can cause partial occlusions of people in a camera's field of view. In many practical applications, relocatable objects tend to appear often; therefore, models for them can be learned off-line and stored in a database. We formulate an occluder-centric representation, called a graphical model layer, where a person's motion in the ground plane is defined as a first-order Markov process on activity zones, while image evidence is aggregated in 2D observation regions that are depth-ordered with respect to the occlusion mask of the relocatable object. We represent real-world scenes as a composition of depth-ordered, interacting graphical model layers, and account for image evidence in a way that handles mutual overlap of the observation regions and their occlusions by the relocatable objects. These layers interact: proximate ground plane zones of different model instances are linked to allow a person to move between the layers, and image evidence is shared between the observation regions of these models. We demonstrate our formulation in tracking low-resolution, partially-occluded pedestrians in the vicinity of parked vehicles. In these scenarios some tracking formulations that rely on part-based person detectors may fail completely. Our pedestrian tracker fares well and compares favorably with the state-of-the-art pedestrian detectors---lowering false positives by twenty-nine percent and false negatives by forty-two percent---and a deformable-contour--based tracker

Two complementary approaches in refining the search for liquid water and habitable environments on present-day Mars

All known active life requires liquid water. The correlation between liquid water and the presence of life on Earth has guided the search for life on other planets. For terrestrial-like life to exist in the harsh conditions that dominate the surfaces of other rocky planets, the minimum fundamental requirements of liquid water, nutrients, and chemical energy must be met. Within our solar system, Mars is a strong candidate for hospitable environments able to support life, due to the reservoirs of water within its crust and the strong likelihood of liquid water. The aim of this thesis is to refine the search for liquid water and environments that may be hospitable to life on Mars. Two complementary methodologies are developed and utilised to achieve this aim. Water requires a relatively narrow range of pressures and temperatures to occur in the liquid phase. The first approach of this thesis compares this range with the pressure-temperature conditions that occur within the Earth, the Earth’s active biosphere, and Mars. Temperature, pressure and water activity are examined to determine the extent to which they restrict life from some liquid water environments. The relevant thresholds are then applied to Mars and compared to models of where liquid water environments are likely to occur under present-day martian conditions. Extensive regions of the Earth may be inhospitable despite lying within the hydrosphere. Life is likely restricted from ~ 81% of the volume of the hydrosphere of Earth due to high temperature and/or low water activity. In contrast, the fraction of Mars that can support liquid water is five times larger than that of Earth, given estimates of an average martian brine. Many environments within the martian crust can potentially support life, with perennially habitable conditions extending from approximately 10 to 37 km beneath the surface. The surface and shallow regolith may also be habitable in the warmest regions of the planet. The second approach focuses on the shallow subsurface of Mars within the top ~20 m. The thermal behaviour of surface materials determines the occurrence of transient shallow liquid water and habitable temperatures for life. Ten classes of surface materials are identified from analysis of global martian thermal inertia and albedo, through the technique of algorithmic classification. These classes are interpreted as mixtures of dust, sand, duricrust, rocks and ice on the surface, and validated through comparisons with independent datasets. Low latitude locations of dark sand, duricrust and pebbles in Syrtis Major, Oxia Palus, Mawrth Vallis and eastern Meridiani Planum are identified as having high potential for hospitable liquid water environments at < 10 m depth. Dark, coarse, sand dominated surfaces are found in Syrtis Major and Aram Chaos and are predicted to be locations of low volume flows of liquid water, potentially analogous to the observed martian recurring slope lineae. This thesis identifies where habitable liquid water environments may occur on Mars, strengthening the astrobiological significance of the planet and providing direction for future robotic and satellite missions searching for life

Proceedings of the 1st European conference on disability, virtual reality and associated technologies (ECDVRAT 1996)

The proceedings of the conferenc