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AD-A092 604 STANFORD UNIV CA DEPT OF C MPUTER SCIENCE
F/6 9/2OBSTACLE AVOIDANCE AND NAVIGATION IN THE REAL WORLD BY A SEEING-ETCIU)
SEP 80 H P NORAVEC 0A903-80-C-0102UNCLASSIFIED STAN-CS-80-813 L
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MICROCOPY RESOLUTION TEST CHART
NATIONAL BUR[AU Of STANDARDS 1963 A
Stanford Artificial Intelligence Laboratory Septemt-er 1980Memo AIM-340
Computer Science DepartmentReport No. STAN-CS-80-813
Obstacle Avoidance and Navigationin the Real World
by a Seeing Robot Rover
by
Hans P. Moravec
Research sponsored by
Advanced Research Projects AgencyNatio'nal Science Foundation
National Aeronautics and Space AdministrationJet Propulsion Laboratory
COMPUTER SCIENCE DEPARTMENTStinford University
LU J1"31.
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G~p16 3
U14CLASS IFIEDJSECURITY CLASSIFICATION OF TW-4S 6;./GE (When Data Entered)
REPORT DOCUMENTATI ON PAGE BFRE INMPTRCINSOR
1. REPORT NUMBER SSO NO. 3.V REIIETSCACOCNME
S TAN- CS -8o,- 8134. TILE (nd Suti~l 15- TYPE OF REPORT & PIER IOD COVERED
.> Obstacle Avoidance and Navigation in The Real. World ","technical, Septemlber 1980by a Seeing Robot Rover-
6. PERFORMING ORG. REPORT NUMBER
-,--UTHOis)sTA-cs-80-813 (AIM-,340)8 . CONTRACT _OR_GRANT NVMOER~s)
/Hans P.,Moravec 4 NA903-8O-C-0102,v NSF-DA4778-15914
9.~ PERFORMING ORGANIZATION NAME AND ADDRESS 10. PROGRAM 'ELEMENT, PROJECT. TASKeparmen ofCompterScinceAREA & WORK UNIT NUMBERS
Stanford University
~ Sanfrd Caifrni 9130 US - 12. REPORT DATE 13. NO. OF PAGES
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Otti Defense Advanced Research Projects Agency Sepasa8oj 74Information Processing Techniques Office - 1 SECURITY CLASS. (of this reoro l1
1400 Wilson Avenue, Arlington, Virginia 22209 Unclassified14 MONITORING AGENCY NAME & ADDRESS (if diff. from Controlling Office)
Mr. Philip Surra, Resident Representative 1a ELSI CTO ONRDNOffice of Naval Research, Dlurand 165 SCHEDULEStanford University
16. DISTRIBUTION STATEMENT (of this report)
Approved for public release; distribution unlimited.
17. DISTRIBUTION STATEMENT (01 the abstract entered in Block 20. if different from report)
19. KEY WORDS (Continue on fevers* side if necessary and identify by block number)
20. ABSTRACT (Continue on revse side if necessary and Clentify by block number)
5i (see other side)
ID D FORM731473 U14CLASSIFIEDEDO OF NOV 65 IS OBSOLETE SECURITY CLASSIFICATION OF THIS PAGE (When Doat& Entee.dl
UNCLASSIFIEDSFCURITY CLASSIFICATION OF THIS PAGE (When Date Eniered)
19. KEY WORDS iConiinuedi
20 ABSTRACT (Continued) Aw .
The Stanford Al Lab cart is a card-table sized mobile robot controlled remotely through a radiolink, and equipped with a TV camera and transmitter. A computer has been programmed to drivethe cart through cluttered indoor and outdoor spaces, gaining its knowledge of the world entirclyfrom images broadcast by the onboard TV system.
The cart uses several kinds of stereo to locate objects around it in 3D and to deduce its ownmotion. It plans an obstacle avoiding path to a desired destination on the basis of a model builtwith this information. The plan changes as the cart perceives new obstacles on its journey.
The system is reliable for short runs, but slow. The cart moves one meter every ten to fifteenminutes, in lurches. After rolling a meter it stops, takes some pictures and thinks about them for along time. Then it plans a new path, executes a litle of it, and pauses again.
The program h s successfully driven the cart through several 20 meter indoor corses (eachtaking about five hours) complex enough to necessitate three or four avoiding swerves. A lesssuccessful outdoor run, in which the cart skirted two obstacles but collided with a third, was alsodone. Harsh lighting (very bright surfaces next to very dark shadows) giving poor pictures andmovement of shadows during the cart's creeping progress were major reasons for the poorer outdoorperformance. The action portions of these runs were filmed by compute, controlled cameras.
I4
DDI JAN 7314 73 BC UNCLASSIFIEDEDITION OF 1 NOV 65 IS OBSOLETE SECURITY CLASSIFICATION OF THIS PAGE When ie Enlewedl
4 i,-
Staford Artificial Intelligence Laboratory September 1980Memo AIM-340
Computer Science DepartmentReport No. STAN-CS-80-813
Obstacle Avoidance and Navigation In the Real Worldby a Seeing Robot Rover
Hans P. Moravec
ABSTRACT
The Stanford Al Lab cart is a card-table sized mobile robot controlled remotely through a radiolink, and equipped with a TV camera and transmitter. A computer has been programmed to drivethe cart through cluttered indoor and outdoor spaces, gaining its knowledge of the world entirelyfrom images broadcast by the onboard TV system.
The cart uses several kinds of stereo to locate objects around it in 3D and to deduce its ownmotion. It plans an obstacle avoiding path to a desired destination on the basis of a model builtwith this information. The plan changes as the cart perceives new obstacles on its journey.
The system is reliable for short runs, but slow. The cart moves one meter every ten to fifteenminutes, in lurches. After rolling a meter it stops, takes some pictures and thinks about them for along time. Then it plans a new path, executes a little of it. and pauses again.
The program has successfully driven the cart through several 20 meter indoor courses (eachtaking about five hours) complex enough to necessitate three or four avoiding swerves. A lesssuccessful outdoor run, in which the cart skirted two obstacles but collided with a third, was alsodone. Harsh lighting (very bright surfaces next to very dark shadows) givi.ig poor pictures andmovement of shadows during the cart's creeping progress were major reasons for the poorer outdoorperformance. The action portions of these runs were filmed by computer controlled cameras,,:
This thesis %w submitted to the Delartment of Computer Science and the Committee on GraduateStudies of Stanford University in partial fuifllment of the requirements for t1e degree of Doctor ofPhilosophy.
This research was supported in part by contracts and grants from the Defente Advanced ResearchProjects Agency. the National Science Foundation, the National Ae;onautics and SpaceAdministration and the Jet Propulsion Laboratory of the California Institute of Technology.
The views and conclusions contained in this paper are those of the author, ant' in no way reflect theofficial policies, either expressed or implie of Stantford University, any agency fof the U.S. governmentor any other body whatsoever.
0 Copyright 1980 by Hans P. Moravec
i 7--
Acknowledgements
My nine year stay at the Stanford Al lab has been pleasant, but long enoughto tax my memory. I hope not too many people have been forgotten.
Rod Brooks helped with most aspects of this work during the last twoyears and especially during the grueling final weeks before the lab move in 19T9.Without his help my PhD-hood might have taken ten years.
Vic Scheinman has been a patron saint of the cart project since well beforemy involvement. Over the years he has provided untold many motor and sensorassemblies, and general mechanical expertise whenever requested. His latest con-tribution was the camera slider assembly which is the backbone of the cart'svision.
Mike Farmwald wrote several key routines in the display and vision softwarepackages used by the obstacle avoider, and helped construct some of the physicalenvironment which made cart operations pleasant.
Jeff Rubin pleasantly helped with the electronic design of the radio controllink and other major components.
Marvin Horton provided support and an array of camera equiment, includ-ing an impressive home built ten meter hydraulic movie crane for the filming ofthe final cart runs.
Others who have helped recently are Harlyn Baker, Peter Blicher, DickGabriel, Bill Gosper, Elaine Kant, Mark LeBrun, Robert Maw, Allan Miller,Lynne Toribara and Polle Zellweger.
My debts in the farther past are many, and my recollection is sporadic. Iremember particularly the difficult time reconstructing the cart's TV transmitter.Bruce Bullock, Tom Gafford, Ed McGuire and Lynn Quam made it somewhat lesstraumatic.
Delving even farther, I wish to thank Bruce Baumgart for radiating apleasantly (and constructively) wild eyed attitude about this line of work, andRod Schmidt, whom I have never met, for building the hardware that made myfirst five years of cart work possible.
In addition I owe very much to the unrestrictive atmosphere created at thelab mainly by John McCarthy and Les Earnest, and maintained by Tom Binford,and also to the excellent system support provided to me (over the years) by MatyFrost, Ralph Gorin, Ted Panosky and Robert Poor.t
I.- I 1V I lm. 9 4 40
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.... ---- I S
Table of ContentsChapter I - Introduction ............. I
Applications . . . . . . . . . . . . . . . . .. . . . 2Chapter 2 - History . . . . . . . . . . . . . . . . . . . . . . . . . 5Chapter 3 -Overview. .... .*...... . . 13
An Objection............. ..... ... 17Chapter 4 -Calibratin.. .. .. .. .. ..... .o o 19Chapter 5- Interest Operator .................... 26
Weaknesses ........ ........ ...... 31Desirable Improvements ........... 32
Chapter 6- Correlation ........ ...... ........ 33Chapter T Stereo .. .. .. .. .... . . . . . . . . .. .. . .41
Slider Stereo ..................... .. 41Motion Stereo.............. ....... 46
Chapter 8 - Path Planning . . .... 53Path Execution................... . 60
Chapter 9- Eluation . ................ 64Flaws Found . .. . ........... ........ 68Bland Interiors........ ... .... .. 68ConfusedMaps.. . . ................ . TOSimple Fixes . . . . . . . . . . . . . ......... 72
Chapter 10 - Spinoffs .................. 4Graphics . ........... .. ........ 74Vision Software ........ .. . . . ......... 78
Chapter 11 - Future Carts ...... ..... 80Strength of Body . . . .. . . . . ..... 80A New Cart ......... . . . .......... 83Strength of Mind . . . . . . . . ......... 84What Then? . . ... . . . . . ........ 85
Chapter 12- Connections . . . . . . . . . . . . . . . . . . . . . . 87Stereo Vision. . . . . . . . . . . . . . . . . . . . . . 8TGennery ... ..... . 9. . . . . . . . . . 8gHannah and Quam . . . . . . . . . . ......... 90Arnold . . . ........... . ........ 91Burr and Chien . ... . . . . . . . . . . . . . . . . . 92Mori St al . d. . .h. . .. . ..... .a 92SYnimovskyand Cungh- :... .... 93
Marr and Pogg .o 5 . .5.5 . . . . . . ... . 93Path Planing . . . . . . . . o o . . . . . . o . . . . 94I Pah.. . . .. . . .. . .
a' [ __ _ _ _ _ _ i
Appendix I -Introduction . 96Software Pointers .................... 96Hardware Overview ................... 98
Appendix 2- History ........................ 1021966 ....... ......................... .. 1021967-1971 ..... ....................... .102
1973-1974 ....... ....................... 105Appendix 3 -Overview ..... ....................... .107Appendix 6- Correlation ..... ...................... .120
Correlation Coefficients ..... ................. 120Normalised Correlation ........................ 120Pseudo-normalised Correlation ..... .............. 120
Appendix 7- Stereo ...... ........................ .. 124Motion Stereo Mathematics ... ............... .124
Appendix 8 - Path Planning ...... ..................... 129Exact Shortest Path in Circle Space ................ 129Approximate Shortest Path in Circle Space.. ......... 135
Appendix 10- Spinoffs ....... ....................... 141Guide to Data Disc Graphics Routines ............ .141Guide to GOD Graphics Routines ............... 145The TYPHDR Typesetting Extension ........... . . 147Guide to Vision Routines on [VISMHPM ............... 148Vision Routines for Displays .... ............... 152Routines for Putting Fonted Text into Pictures ......... 153Internal Picture Array Format ................. .154Picture File Format ..... .................. .155XGPSYN and XGPSYG ..... ................. 156GOD Files and XGPSYG .... ............... .160
Appendix 12- Connections ....... ..................... 162Philosophy ..... ....................... .162Locomotion, Vision and Intelligence ................ 164The Point ........ ...................... 166References . . . .......... ..... .. . . . 166
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