Inferred Geometry from a Moving Platform – Handling Roll and Pitch

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Authors
  1. Broten, G.
Corporate Authors
Defence R&D Canada - Suffield, Ralston ALTA (CAN)
Abstract
The Autonomous Intelligent Systems Section at Defence R&D Canada {Suffield develops autonomous capabilities for land and air vehicles. Unmanned ground vehicle autonomy demands numerous capabilities, including traversing outdoor, unstructured environments. As a rule, outdoor terrain is not static as it varies on a seasonal basis due to the life cycle associated with natural flora. Additionally, outdoor terrain may change appearance due to variations in lighting conditions that result from the sun's relative position and from weather conditions such as clouds, fog or rain. Finally, unstructured terrain contains many natural obstacles such as rocks, berms and ditches that could impede high speed traversal. As reported in the previous Technical Report, \Generalized, On-Line, Self-Supervised Learning for Autonomous Vehicles" (Defence R&D Canada {Suffield TR 2009-220), looking further ahead can allow for increased traversal speeds. Extending the lookahead distance can be achieved via a technique known as \Inferred Geometry" (IG). Although the goal of IG is increased traversal speed, the original results were a proof of concept that considered only static situations. This report extends the original research to cases were the vehicle is moving. Given a moving vehicle experiences both roll and pitch, all sensed data must compensate for motion around these axes. This paper describes techniques developed to compensate for roll and pitch, thus, enabling the application of inferred geome
Report Number
DRDC-SUFFIELD-TM-2010-278 — Technical Memorandum
Date of publication
01 Dec 2010
Number of Pages
34
DSTKIM No
CA034991
CANDIS No
534508
Format(s):
Electronic Document(PDF)

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