The VIRGO experience: Research on Vision Based Robot Navigation - PowerPoint PPT Presentation

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The VIRGO experience: Research on Vision Based Robot Navigation

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Title: The VIRGO experience: Research on Vision Based Robot Navigation Author: Frank Barry Last modified by: trahania Created Date: 4/30/1998 7:11:22 AM – PowerPoint PPT presentation

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Title: The VIRGO experience: Research on Vision Based Robot Navigation


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Ge????? St???? ???sßas? (ep?s?e??µ?t?ta) t??
????se?? ?a? ???eµ?t?? st? e??? ????? ?a? se
e?d????? ?e?et?t??

3
S?????? ??a?t??? ?p?t?p?a ?p?s?e?? st? ????
??d?af????t?? ???st?? t??p?? µe??t?? ?a?
ap??a?s?? t?? e??eµ?t??

4
??e? ?e???????e? - ???at?t?te? ???e-ep?s?e??
µ?s? s?st?µ?t?? ????????? ??a?µat???t?ta?
p?e??e?t?µata a??? ?a? µe???e?t?µata

5
??a ??te??? ??a ???s????s?
???e-ep?s?e?? µ?s? ??µp?t???? ??p??s?p??

?p?s?e?? ?a? ?a?at???s? t?? ??a?µat????
???es?a??? ?????
?? ???? ??e??a? ?a? ???pt???? TOURBOT
6

7
?e?t????? St????
???e-pa???s?a se e??es?a???? ?????? µ?s?
??µp?t???? e?p??s?p??

?a?at???s? µ?s? t?? µat??? t?? ??µp?t ?a?
e?ap?st?se?? ??e???? t?? ??µp?t
Internet
8
?as??? St???e?a
  • ?p?µa???sµ???? e?p??s?p?? t?? ???st?
  • ?as?sµ???? se ????t? ??µp?t??? s?st?µata,
    ef?d?asµ??a µe a?s??t??e? ?a? s??dedeµ??a µe t?
    d?ad??t??
  • ?a???? e?????? p??? ap? t? d?ad??t??
  • ??a?? ?a p???????ta? a?t???µa ?a? µe asf??e?a
  • ?et?d?s? p???µes???? p????f???a? st? ???st?


9
St????
  • ???pt??? ??µp?t ?e?a??? µe d??at?t?ta ?a
    pa???e? e?at?µ??e?µ??? p??sßas? se e???µata p???
    ap? t? d?ad??t??
  • ?e?t?????a ?? ? e?p??s?p?? t?? ???st? st??
    e??es?a?? ???? - ????s? ?a? pa?at???s? a?????a µe
    t? ß????s? t?? ???st?
  • ?et?d?s? p???µes???? p????f???a? st? ???st?


10
  • S?????µat?d?t????e ap? t? ?????aµµa ?e???????e?
    t?? ???????a? ?????f????? t?? ????pa????
    ?????t?ta?
  • ????p?????sµ?? 1.718.150
  • 1,088,790 ?????t??? ???µat?d?t?s?
  • 629.360 ???µat?d?t?s? ap? s?µµet????te? f??e??
  • ?????e?a 2 ?t? (1/1/2000 - 31/12/2001)
  • ?????p?a??a ?pt? ???a??sµ??


11
?????p?a??a
  • ?d??µa ?e???????a? ?a? ??e??a? (S??t???st??
    ?????p?a??a? / ?e?????????? F???a?)
  • ?a?ep?st?µ?? Freiburg (?e?????????? F???a?)
  • ?d??µa ?e?????? ??????sµ?? (??aµes??aß?t??
    ?e????????? / F???a? ???st??)
  • ?a?ep?st?µ?? ?????? (?e?????????? F???a?)
  • T?O? ??µp?t??? S?st?µata (?e?????????? F???a?)
  • Ge?µa???? ???se?? ?????? (F???a? ???st??)
  • ???a?t??? ?a? ???st?a???? ???se?? ?????? (F???a?
    ???st??)


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  • ????t? ??µp?t??? S?st?µata
  • ??t???µ? ??????s?
  • ?p?µa???sµ??? ???sßas? ??e???? µ?s? ??ad??t???
  • ??ap??s?pe?e? ???st?-S?st?µat??


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FORTH UNIBONN UNIFR
Environment
FHW UNIFR UNIBONN
Navigation SW
Sensors
Data Link
Mobile Platform
Platform bus
Processing Control Unit
On-site User
THEON
Wireless Link
System Administrator
Information and Data Base
Off-board Workstation
Internet Link
UNIBONN UNIFR MUSBON BYZMUS
Remote User
WWW
FHW UNIFR UNIBONN
14

?????????s? ??ap??s?pe?a? / S?st?µat?? ??????s??
15
(No Transcript)
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? p??t? ????t??? ?fa?µ??? t?? TOURBOT ????e 28/5
- 2/6, 2001 st??? ???es?a???? ?????? t??
?d??µat?? ?e?????? ??????sµ?? Stat?st???
St???e?a 2000 ep?s???e?? ap? t? d?ad??t??
5-10 ???ste? a?? p?sa st??µ?

Network Traffic
17

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  • ?p?de??t??e ? d??at?t?ta ????t?? ??µp?t ?a
    ?e?t?????s??? se p?a?µat????? e??es?a???? ??????
  • ??a µe???a ??????? d?ast?µata
  • µe p????? ep?s?ept??
  • ??a?? a???µ? d??t?a??? ep?s?ept??
  • ?e????t???? St???? pe???aµß?????
  • ?e?t?????a se µ???µ? ß?s?
  • ep??tas? se ?????? ?????? µe ?at?????e?
    pa?eµß?se?? st? s?st?µa
  • ep??tas? d??at?t?t?? (chat, e??t?se??-apa?t?se??,
    s???µ???a d??t?a???-ep?t?p??? ???st??, ?a)


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