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Matthies, Larry

Publications and source records attributed to Matthies, Larry.

67 records · Page 4
All sourcesNASA NTRSDOE OSTI
NASA NTRS2003

Obstacle detection in foliage with ladar and radar

Autonomous off-road navigation is central to several important applications of unmanned ground vehicles. This requires the ability to detect obstacles in vegetation. We examine the prospects for doing so with scanning ladar and with a linear array of 2.2 GHz micro-impulse radar transceivers. For ladar, we summarize our work to date on algorithms for detecting obstacles in tall grass with single-axis ladar, then present a simple probabilistic model of the distance into tall grass that ladar-based obstacle detection is possible.

ladar↗
NASA NTRS2002

Algorithms and Sensors for Small Robot Path Following

Tracked mobile robots in the 20 kg size class are under development for applications in urban reconnaissance. For efficient deployment, it is desirable for teams of robots to be able to automatically execute path following behaviors, with one or more followers tracking the path taken by a leader. The key challenges to enabling such a capability are (l) to develop sensor packages for such small robots that can accurately determine the path of the leader and (2) to develop path following algorithms for the subsequent robots. To date, we have integrated gyros, accelerometers, compass/inclinometers, odometry, and differential GPS into an effective sensing package. This paper describes the sensor package, sensor processing algorithm, and path tracking algorithm we have developed for the leader/follower problem in small robots and shows the result of performance characterization of the system. We also document pragmatic lessons learned about design, construction, and electromagnetic interference issues particular to the performance of state sensors on small robots.

path following↗
NASA NTRS2000

Passive Night Vision Sensor Comparison for Unmanned Ground Vehicle Stereo Vision Navigation

One goal of the "Demo III" unmanned ground vehicle program is to enable autonomous nighttime navigation at speeds of up to 10 m.p.h. To perform obstacle detection at night with stereo vision will require night vision cameras that produce adequate image quality for the driving speeds, vehicle dynamics, obstacle sizes, and scene conditions that will be encountered. This paper analyzes the suitability of four classes of night vision cameras (3-5 micrometer cooled FLIR, 8-12 micrometer cooled FLIR, 8-12 micrometer uncooled FLIR, and image intensifiers) for night stereo vision, using criteria based on stereo matching quality, image signal to noise ratio, motion blur and synchronization capability. We find that only cooled FLIRs will enable stereo vision performance that meets the goals of the Demo III program for nighttime autonomous mobility.

Owens, Ken↗
NASA NTRS1997

Error Analysis of a Real-Time Stereo System

This paper provides an in-depth analysis of the major error sources for such a real-time stereo system in the context of the cross-coutry navigation of an autonomous vehicle.

Error Analysis Real-time Stereo System Navigation↗
NASA NTRS1996

Programmable Multiresolution CMOS Active Pixel Sensor

CMOS active pixel sensors (APS) allow the flexibility of placing signal processing circuitry on the imaging focal plane. The multiresolution CMOS APS can perform block averaging on-chip to eliminate the off-chip software intensive image processing. This 128 x 128 APS array can be read out at any user-defined resolution by configuring a set of digital shift registers. The resolution frame rate is 30 Hz with higher rates for all other image resolutions.

APS↗
NASA NTRS1993

Stochastic performance modeling and evaluation of obstacle detectability with imaging range sensors

Statistical modeling and evaluation of the performance of obstacle detection systems for Unmanned Ground Vehicles (UGVs) is essential for the design, evaluation, and comparison of sensor systems. In this report, we address this issue for imaging range sensors by dividing the evaluation problem into two levels: quality of the range data itself and quality of the obstacle detection algorithms applied to the range data. We review existing models of the quality of range data from stereo vision and AM-CW LADAR, then use these to derive a new model for the quality of a simple obstacle detection algorithm. This model predicts the probability of detecting obstacles and the probability of false alarms, as a function of the size and distance of the obstacle, the resolution of the sensor, and the level of noise in the range data. We evaluate these models experimentally using range data from stereo image pairs of a gravel road with known obstacles at several distances. The results show that the approach is a promising tool for predicting and evaluating the performance of obstacle detection with imaging range sensors.

Matthies, Larry↗
NASA NTRS1992

Passive stereo range imaging for semi-autonomous land navigation

The paper examines the use of stereo vision (SV) for obstacle detection in semiautonomous land navigation. Feature-based and field-based paradigms for SV are reviewed. The paper presents stochastic models and simple, efficient stereo matching algorithms for the field-based approach and describes a near-real-time vision system using these algorithms. Experimental results illustrate aspects of the stochastic models and lead to the first semiautonomous traversals of natural terrain to use SV for obstacle detection.

Matthies, Larry↗
NASA NTRS1992

Robotic vehicles for planetary exploration

A program to develop planetary rover technology is underway at the Jet Propulsion Laboratory (JPL) under sponsorship of the National Aeronautics and Space Administration. Developmental systems with the necessary sensing, computing, power, and mobility resources to demonstrate realistic forms of control for various missions have been developed, and initial testing has been completed. These testbed systems and the associated navigation techniques used are described. Particular emphasis is placed on three technologies: Computer-Aided Remote Driving (CARD), Semiautonomous Navigation (SAN), and behavior control. It is concluded that, through the development and evaluation of such technologies, research at JPL has expanded the set of viable planetary rover mission possibilities beyond the limits of remotely teleoperated systems such as Lunakhod. These are potentially applicable to exploration of all the solid planetary surfaces in the solar system, including Mars, Venus, and the moons of the gas giant planets.

Wilcox, Brian↗
NASA NTRS1991

Stereo vision for planetary rovers - Stochastic modeling to near real-time implementation

JPL has achieved the first autonomous cross-country robotic traverses to use stereo vision, with all computing onboard the vehicle. This paper describes the stereo vision system, including the underlying statistical model and the details of the implementation. It is argued that the overall approach provides a unifying paradigm for practical domain-independent stereo ranging.

Matthies, Larry↗