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NASA NTRS2004

Real-time Detection of Moving Objects from Moving Vehicles Using Dense Stereo and Optical Flow

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time. dense stereo system to include realtime. dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identify other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop. computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

moving object detection↗

NASA NTRS2006

Adaptive Changes In Postural Equilibrium And Motion Sickness Following Repeated Exposures To Virtual Environments

Virtual environments offer unique training opportunities, particularly for training astronauts and preadapting them to the novel sensory conditions of microgravity. Two unresolved human factors issues in virtual reality (VR) systems are: 1) potential "cybersickness", and 2) maladaptive sensorimotor performance following exposure to VR systems. Interestingly, these aftereffects are often quite similar to adaptive sensorimotor responses observed in astronauts during and/or following space flight. Changes in the environmental sensory stimulus conditions and the way we interact with the new stimuli may result in motion sickness, and perceptual, spatial orientation and sensorimotor disturbances. Initial interpretation of novel sensory information may be inappropriate and result in perceptual errors. Active exploratory behavior in a new environment, with resulting feedback and the formation of new associations between sensory inputs and response outputs, promotes appropriate perception and motor control in the new environment. Thus, people adapt to consistent, sustained alterations of sensory input such as those produced by microgravity, unilateral labyrinthectomy and experimentally produced stimulus rearrangements. Adaptation is revealed by aftereffects including perceptual disturbances and sensorimotor control disturbances. The purpose of the current study was to compare disturbances in postural control produced by dome and head-mounted virtual environment displays, and to examine the effects of exposure duration, and repeated exposures to VR systems. Forty-one subjects (21 men, 20 women) participated in the study with an age range of 21-49 years old. One training session was completed in order to achieve stable performance on the posture and VR tasks before participating in the experimental sessions. Three experimental sessions were performed each separated by one day. The subjects performed a navigation and pick and place task in either a dome or head-mounted display (HMD) VR system for either 30 or 60 min. The environment was a square room with 15 pedestals on two opposite walls. The objects appeared on one set of pedestals and the subject s objective was to move the objects to the other set of pedestals. After the subject picked up an object, a pathway appeared and they were required to follow the pathway to the other side of the room. The subject was instructed to perform the task as quickly and accurately as possible, avoiding hitting walls and other any obstacles and placing the object on the center of the pedestal. Postural equilibrium was measured (using the Equitest CDP balance system, Neurocom, International) before, immediately after, and at 1 hr, 2 hr, 4 hr and 6 hr following exposure to VR. Postural equilibrium was measured during quiet stance with eyes open, eyes closed and vision and/or ankle proprioceptive inputs selectively altered by servo-controlling the visual surround and/or support surface to the subject s center of mass sway. Posture data was normalized using a log transformation and motion sickness data were normalized using the square root. In general, we found that exposure to VR resulted in decrements in postural stability. The largest decrements were observed in the tests performed immediately following exposure to VR and showed a fairly rapid recovery across the remaining test sessions. In addition, subjects generally showed improvement across days. We found significant main effects for day and time for the composite equilibrium score and for sensory organization tests (SOT) 1, 2 and 6. Significant main effects were observed for day for SOT 3 and 5. Although we found no significant main effects for gender (when center of gravity was used as a covariate), we did observe significant gender X time interaction effects for composite equilibrium and for SOT 1, 3, 4 and 5. Women appeared to show larger decrements in postural stability immediately after exposure to VR than men, but recover more quickly than n. Finally, we found no significant main effects for type of VR device or for exposure duration, however, these factors did interact with other factors during some of the SOTs. Subjects exhibited rapid recovery of motion sickness symptoms across time following exposure to VR and significantly less severe symptoms across days. We did not observe main effects for gender, type of device or duration of exposure. Individuals recovered from the detrimental effects of exposure to virtual reality on postural control and motion sickness within one hour. Sickness severity and initial decrements in postural equilibrium decreases over days, which suggests that subjects become dual-adapted over time. These findings provide some direction for developing training schedules for VR users that facilitate adaptation, and support the idea that preflight training of astronauts may serve as useful countermeasure for the sensorimotor effects of space flight.

Harm, D. L.↗

NASA NTRS1996

The role of retinal versus perceived size in the effects of pitched displays on visually perceived eye level

Visually perceived eye level (VPEL) was measured while subjects viewed two vertical lines which were either upright or pitched about the horizontal axis. In separate conditions, the display consisted of a relatively large pair of lines viewed at a distance of 1 m, or a display scaled to one third the dimensions and viewed at a distance of either 1 m or 33.3 cm. The small display viewed at 33.3 cm produced a retinal image the same size as that of the large display at 1 m. Pitch of all three displays top-toward and top-away from the observer caused upward and downward VPEL shifts, respectively. These effects were highly similar for the large display and the small display viewed at 33.3 cm (ie equal retinal size), but were significantly smaller for the small display viewed at 1 m. In a second experiment, perceived size of the three displays was measured and found to be highly accurate. The results of the two experiments indicate that the effect of optical pitch on VPEL depends on the retinal image size of stimuli rather than on perceived size.

NASA Center ARC↗

NASA NTRS2020

Optical Navigation for Autonomous Approach of Small Unknown Bodies

State of the practice in navigation around small celestial bodies heavily relies on ground sup- port and human skill, in particular, for perception-based operations such as optical navigation and mapping. This leads to longer duration and more complex mission operations and sub- sequently higher cost. Furthermore, it imposes limitations for certain missions such as fast fly-bys or multi-agent operations. In this work, we present an autonomous navigation strat- egy suitable for approaching small unexplored bodies. During the approach, we estimate the body’s physical properties as well as the spacecraft’s relative trajectory and associated un- certainties. The autonomous navigation strategy, which is solely based on optical measure- ments, begins as soon as the body becomes resolved in the navigation camera and terminates at the start of proximity operations, when the spacecraft makes its first trajectory correction to stay in the vicinity of the body. Our strategy uses multiple image-processing algorithms: light-curve analysis for estimating the target body’s rotation rate, Shape-from-Silhouette for reconstructing the 3D shape and estimating its rotation pole, and feature tracking tailored to Small-Body images for estimating relative navigation parameters. We used the Mission Analysis, Operations, and Navigation Toolkit Environment (MONTE) developed by the Jet Propulsion Laboratory to evaluate the feasibility of this multi-phase navigation strategy using simulated images of an approach trajectory. We used the Rosetta mission data to generate photorealistic images to characterise the performance of this approach. This work is based on the assumptions that the spacecraft attitude is known, the body is a principal-axis rotator, a-priori estimates of ephemerides and scale are available, and the body is observed from a zero sun phase only during initial approach. Preliminary results show orbit determination performance that is on par with the human navigation from the Rosetta mission; albeit with a 1% bias in spacecraft-target radial distance estimate. The bias error is likely due to the robustness and accuracy of the visual tracking under dynamic lighting conditions and per- spective changes, which decrease accuracy.

Villa, Jacopo↗

DOE OSTI2023

Semi-Automatic Geographic Information System Framework for Creating Photo-Realistic Digital Twin Cities to Support Autonomous Driving Research

Digital twin cities are frequently used in vehicle and traffic simulations to render realistic on-road driving scenarios under various traffic and environmental conditions. These digital twins provide a high-fidelity replica of the physical world (e.g., buildings, roads, infrastructures, traffic) to create three-dimensional (3D) virtual-physical environments to support various emerging vehicle and transportation technologies such as connected and automated vehicles. These virtual environments provide a cost-effective digital proving ground to evaluate, validate, and test emerging technologies that include control algorithms, localization, perception, and sensors. Replicating a real-world traffic scenario in a digital twin using a traditional 3D modeling approach is a time-consuming and labor-intensive effort. Here this paper presents a semi-automated spatial framework to construct realistic 3D digital twin cities to support autonomous driving research using readily available geographic information system (GIS) data and 3D prefabricated (prefab) models. We start with a comprehensive review of geospatial data sources of essential digital entities required in a 3D digital twin city and present an integrated GIS-3D modeling pipeline using customized QGIS/GDAL and Blender scripting in Python. The pipeline outputs are realistic 3D digital twin cities compatible with common vehicle simulation software, such as CARLA and IPG CarMaker. The paper closes with a showcase to demonstrate the quality and usability of a digital twin city created to replicate the Shallowford Road corridor in Chattanooga in both Unity and Unreal engine-based virtual environment. The generated digital twin city can be applied to a hardware-in-the-loop simulation environment with an actual testing vehicle to facilitate autonomous driving research.

33 ADVANCED PROPULSION SYSTEMS↗

DOE OSTI2023

Opinions from Users Across the Lifespan about Fully Autonomous and Rideshare Vehicles with Associated Features

Fully autonomous vehicles have the potential to fundamentally transform the future transportation system. While previous research has examined individuals’ perceptions towards fully autonomous vehicles, a complete understanding of attitudes and opinions across the lifespan is unknown. Therefore, individuals’ awareness, acceptance, and preferences towards autonomous vehicles were obtained from 75 participants through interviews with three diverse groups of participants: 20 automotive engineering graduate students who were building an autonomous concept vehicle, 21 non-technical adults, and 34 senior citizens. The results showed that regardless of age, an individual’s readiness to ride in a fully autonomous vehicle and the vehicle’s requirements were influenced by the users’ understanding of autonomous vehicles. All of the engineering students understand what a fully autonomous vehicle is and this group was the most willing to ride especially compared to the seniors, where only half of the seniors knew what a fully autonomous vehicle is and 58.8% were not at all ready to ride one. The desire to have a manual control option or the ability to override the vehicle was common (90% of the engineering students, 95.2% of the adults, and 82.4% of the seniors), especially for individuals who reported not being ready to ride in a fully autonomous vehicle. The majority of all three groups of participants (85% of the engineering students, 81% of the adults, and 52.9% of the seniors) considered it essential that the vehicle should convey information about the vehicle’s status and intended behavior. Diagnostic information about the vehicle was desired by the engineering students (71.4%), who had a technical understanding of autonomous vehicles and current automotive related technologies. When autonomous vehicles are available, most participants anticipate preferring to use them as a rideshare service model (75% of the engineering students, 38% of the adults, and 27% of the seniors) rather than owning (5% of the engineering students, 19% of the adults, and 21% of the seniors) the autonomous vehicle themselves. Regarding the topic of sharing rides with strangers, both the automotive engineering students (90%) and the adults (52.6%) were comfortable with the idea of pooled rideshare in comparison to the seniors (29.4%). In future efforts, it will be important to include potential autonomous vehicle users of a wide age range as well as physical, cognitive, and visual abilities.

Gangadharaiah, Rakesh↗

NASA NTRS1999

Neurovestibular Session Summary

Oman - The early mission operational problems caused by space motion sickness have been largely resolved in recent years. This has been achieved by appropriate timeline adjustments, voluntary head movement restriction, and judicious use of promethazine. Crew members now simply accept that some symptoms "come with the job," and usually last only a few days. But as more people have flown longer flights, we've seen cases of space sickness and inversion illusion that take several weeks to resolve. Visual reorientation illusions continue throughout long flights, and occasionally cause difficulties. EVA astronauts sometimes suddenly fear they will fall out of the payload bay or off of the RMS or Strella arms. Orientation and navigation in three dimensions in the MIR station reportedly does not come naturally, because modules have different visual verticals. It is clear that the neurovestibular problems of spaceflight have not disappeared. After return to Earth, many crew members are disoriented and ataxic in the first hour after return, and require assistance leaving the vehicle, Flight surgeons say that the longer the mission, the stronger the aftereffects, certain of which last for weeks. We do not yet know how to predict who will be afflicted. Looking ahead to 3-4 month long voyages to Mars, it seems obvious that if cruise is in O-G, the crew may encounter neurovestibular problems on arrival. Artificial G may be broadly effective as a countermeasure for many of the physiological changes of spaceflight, but from the neurovestibular perspective, it is a double-edged sword. We know that the Coriolis stimulus resulting from rotation is potentially disorienting and nauseogenic. But we don't yet know how much artificial G will be enough, nor how successfully people can adapt to a specific angular velocity and hypo G level. Development of countermeasures remains a big challenge for our neurovestibular community. Maintaining an interdisciplinary perspective is important. Three examples were presented at this meeting: 1) Transgenic animal experiments suggest that in addition to the light illumination cycle, vestibular inputs may also serve as an important input to the circadian system. 2) Radiation can cause important CNS effects in animals, including loss of spatial memory. 3) As described in our session, otolith inputs may contribute to cardiovascular regulation of orthostatic tolerance. Over the past three days, we've all enjoyed catching up with old friends, and making many new ones. On behalf of my colleagues, I want to thank Al Coats and the USRA DSLS staff for the great job they did in running this meeting. And keeping the emphasis on fun. And also my Co- Chair, Mal Cohen, who had more stamina than many of us, despite major surgery only three weeks ago. Mal and I have written a few lines describing each of the seventeen papers in our session, to give you a quick over-view, and as a guide to the full abstracts, We have grouped them under five themes: preflight and inflight countermeasurements, postlanding posture and locomotion deficits: assessment and prediction, adaptive processes, relationships among physical simuli, perceptions, and eye movements, vestibular contribution to human autonomic responses, and implications and recommendations.

Oman, Charles↗

DOE OSTI2022

Can we use antipredator behavior theory to predict wildlife responses to high-speed vehicles?

Animals seem to rely on antipredator behavior to avoid vehicle collisions. There is an extensive body of antipredator behavior theory that have been used to predict the distance/time animals should escape from predators. These models have also been used to guide empirical research on escape behavior from vehicles. However, little is known as to whether antipredator behavior models are appropriate to apply to an approaching high-speed vehicle scenario. We addressed this gap by (a) providing an overview of the main hypotheses and predictions of different antipredator behavior models via a literature review, (b) exploring whether these models can generate quantitative predictions on escape distance when parameterized with empirical data from the literature, and (c) evaluating their sensitivity to vehicle approach speed using a simulation approach wherein we assessed model performance based on changes in effect size with variations in the slope of the flight initiation distance (FID) vs. approach speed relationship. The slope of the FID vs. approach speed relationship was then related back to three different behavioral rules animals may rely on to avoid approaching threats: the spatial, temporal, or delayed margin of safety. We used literature on birds for goals (b) and (c). Our review considered the following eight models: the economic escape model, Blumstein’s economic escape model, the optimal escape model, the perceptual limit hypothesis, the visual cue model, the flush early and avoid the rush (FEAR) hypothesis, the looming stimulus hypothesis, and the Bayesian model of escape behavior. We were able to generate quantitative predictions about escape distance with the last five models. However, we were only able to assess sensitivity to vehicle approach speed for the last three models. The FEAR hypothesis is most sensitive to high-speed vehicles when the species follows the spatial (FID remains constant as speed increases) and the temporal margin of safety (FID increases with an increase in speed) rules of escape. The looming stimulus effect hypothesis reached small to intermediate levels of sensitivity to high-speed vehicles when a species follows the delayed margin of safety (FID decreases with an increase in speed). The Bayesian optimal escape model reached intermediate levels of sensitivity to approach speed across all escape rules (spatial, temporal, delayed margins of safety) but only for larger (> 1 kg) species, but was not sensitive to speed for smaller species. Overall, no single antipredator behavior model could characterize all different types of escape responses relative to vehicle approach speed but some models showed some levels of sensitivity for certain rules of escape behavior. We derive some applied applications of our findings by suggesting the estimation of critical vehicle approach speeds for managing populations that are especially susceptible to road mortality. Overall, we recommend that new escape behavior models specifically tailored to high-speeds vehicles should be developed to better predict quantitatively the responses of animals to an increase in the frequency of cars, airplanes, drones, etc. they will face in the next decade.

54 ENVIRONMENTAL SCIENCES↗