Autonomous robot's navigation

Autonomous robot's navigation

Postby EDV on 14 Dec 2009, 13:22

Hello,

Now I work at associative video memory. The method still in developing (now it version 0.5)
but it gives good results already today.

I am dealing with research of computer vision in parallel with my main job
at "Impulse" more than three years (it is my hobby).

About me: http://edv-detail.narod.ru/EDV_resume.html

In the beginning my achievements were insignificant and little part of ideas has worked properly.
But I did not surrender. I generated big quantity of hypotheses and then test it.

The most ideas did not work indeed but those that worked were similar to particles of gold
in huge quantity of dross. My associative video memory method is working indeed.

============================- Common information -==========================

Algorithm AVM uses a principle of multilevel decomposition of recognition matrices,
it is steady against noise of the camera and well scaled, simply and quickly
for training, also it shows acceptable quick-action on a greater image resolution
of entrance video (960x720 and more). The algorithm works with grayscale images.

The detailed information about AVM algorithm can be looked here:
http://edv-detail.narod.ru/AVM_main.html

AVM SDK v0.5 with examples of using and tests for comparison
of characteristics of the previous and new versions:
http://edv-detail.narod.ru/AVM_SDK_v0-5.zip

Demonstration video how to train AVM:
http://edv-detail.narod.ru/Face_training_demo.avi

AVM demo with the user interface (GUI), installation for Windows:
http://edv-detail.narod.ru/Recognition.zip

Connect the web-camera and start AVM demo after installation of "Recognition.exe".
After starting the program will inform that there is not stored previously data
of training AVM and then will propose to establish the key size of the image
for creation of new copy AVM. Further train AVM using as an example Face_training_demo.avi.

========================- Robot's navigation -=========================

I also want to introduce my first experience in robot's navigation powered by AVM.

Briefly, the navigation algorithm do attempts to align position of a tower
and the body of robot on the center of the first recognized object in the list
of tracking and if the object is far will come nearer and if it is too close it
will be rolled away back.

See video below:
http://www.youtube.com/watch?v=EcXl0mQcPxs

http://www.youtube.com/watch?v=AvQMi_DdF94

I have made changes in algorithm of the robot's control
also I have used low resolution of entrance images 320x240 pixels.
And it gave good result (see "Follow me"):
http://www.youtube.com/watch?v=HTxNlOpm11U

Robot navigation by gate from point "A" to "B"

See video below:
http://www.youtube.com/watch?v=R4Ogq2YUfrU

http://www.youtube.com/watch?v=1w2bMlTsLUI

First an user must set the visual beacons (gates) that will show direction where robot has to go.
Robot will walk from gate to gate. If the robot recognize "target" then he come nearer and stop walking.

Navigation application (installation for Windows):
http://edv-detail.narod.ru/Recognition.zip

Installation also contains source code of robot control driver (InstDir\RobotController_src).
So you can adapt it to your robots and repeat my navigation experiments by yourself.

Also available source code of navigation application (but all comments in Russian):
http://edv-detail.narod.ru/Navigator_src.zip

Source code of "Navigator" program was prepared for Russian community.

But if you would show interest to this topic then I could adapt it to English community too.
EDV
 
Posts: 7
Joined: 14 Dec 2009, 13:16

Re: Autonomous robot's navigation

Postby robin7013 on 21 Dec 2009, 10:35

robin7013
 
Posts: 6
Joined: 16 Dec 2009, 08:01
Location: India

Re: Autonomous robot's navigation

Postby EDV on 20 Sep 2010, 12:22

RoboRealm company begins distribution of "Navigator" plugin ( http://www.roborealm.com/help/AVM_Navigator.php ) within RoboRealm software ( http://www.roborealm.com/ ).
EDV
 
Posts: 7
Joined: 14 Dec 2009, 13:16

Re: Autonomous robot's navigation

Postby EDV on 05 May 2011, 13:53

Now AVM Navigator v0.7 is released and you can download it from RoboRealm website.
In new version is added two modes: "Marker mode" and "Navigate by map".

Marker mode

Image

Marker mode provides a forming of navigation map that will be made automatically by space marking. You just should manually lead the robot along some path and repeat it several times for good map detailing.

Navigation by map

Image

In this mode you should point the target position at the navigation map and further the robot plans the path (maze solving) from current location to the target position (big green circle) and then robot begins automatically walking to the target position.


Image

For external control of "Navigate by map" mode is added new module variables:

NV_LOCATION_X - current location X coordinate;
NV_LOCATION_Y - current location Y coordinate;
NV_LOCATION_ANGLE - horizontal angle of robot in current location (in radians);


Target position at the navigation map
NV_IN_TRG_POS_X - target position X coordinate;
NV_IN_TRG_POS_Y - target position Y coordinate;

NV_IN_SUBMIT_POS - submitting of target position (value should be set 0 -> 1 for action).

Examples

Image
Quake 3 Odometry Test

Image
Navigation by map

Image
Visual Landmark Navigation
EDV
 
Posts: 7
Joined: 14 Dec 2009, 13:16

Re: Autonomous robot's navigation

Postby EDV on 04 Jun 2011, 20:55

Quake 3 Mod

Image

Don't have a robot just yet? Then click here to view the manual that explains how to setup RoboRealm
with the AVM module to control the movement and processing of images from the Quake first person video game.
This allows you to work with visual odometry techniques without needing a robot!

The additional software needed for this integration can be downloaded here.
EDV
 
Posts: 7
Joined: 14 Dec 2009, 13:16

Re: Autonomous robot's navigation

Postby EDV on 06 Jun 2011, 21:37

Is it possible to play with virtual robot in "Navigation by map" mode?

Yes!

Image

Just look into documentation and download the "AVM Quake 3 mod" installation.
EDV
 
Posts: 7
Joined: 14 Dec 2009, 13:16

Re: Autonomous robot's navigation

Postby EDV on 12 Jul 2011, 11:51

Next modification of AVM Navigator v0.7.2.1 is released.

Changes:
Visual odometry algorithm was updated:

Image
Visual Odometry
EDV
 
Posts: 7
Joined: 14 Dec 2009, 13:16

Re: Autonomous robot's navigation

Postby EDV on 09 Aug 2011, 22:21

I have done new plugin for RoboRealm:

Image

Digital Video Recording system (DVR)

You can use the "DVR Client-server" package as a Video Surveillance System in which parametric data
(such as VR_VIDEO_ACTIVITY) from different video cameras will help you search for a video fragment
that you are looking for.

You can use the "DVR Client-server" package as a powerful instrument for debugging your video processing
and control algorithms that provides access to the values of your algorithm variables that were archived
during recording.


Technical Details

- ring video/parametric archive with duration of 1 - 12 months;

- configurable database record (for parametric data) with maximal length of 190 bytes;

- writing of parameters to database with discretization 250 ms;

- the DVR Client can work simultaneously with four databases that can be located at remote computers.


Image
EDV
 
Posts: 7
Joined: 14 Dec 2009, 13:16


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