ROBÓTICA Servoposicionamiento y Estimación de Pose Usando Sensores Visuales: Teoría y Aplicaciones
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1 V ESCUELA DE INVIERNO PARA LA DIVULGACION DE LA ROBÓTICA, NANOTECNOLOGIA Y NEUROCIENCIA Univeridad Ténia Federio Santa María 5 julio 2 ROBÓTICA Servopoiionamiento y Etimaión de Poe Uando Senore Viuale: Teoría y Apliaione Miguel Torre Torriti PONTIFICIA UNIVERSIDAD CATÓLICA DE CHILE ESCUELA DE INGENIERÍA Departamento de Ingeniería Elétria Control y Etimaión Viual de Poiión en Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 2
2 Control y Etimaión Viual de Poiión en traking Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 3 Control y Etimaión Viual de Poiión en egomotion traking Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 4
3 Control y Etimaión Viual de Poiión en guidane navigation motion/poe ontrol egomotion traking Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 5 Control y Etimaión Viual de Poiión en guidane navigation motion/poe ontrol egomotion traking augmented reality truture from motion Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 6
4 Viión Etereoópia Omnidireional Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 7 Ejemplo Egomotion: Appearane-Guided Monoular Omnidiretional Viual Odometry for Outdoor Ground Vehile Davide Saramuzza, Roland Siegwart, IEEE Tran. On Roboti, v.24, n.5, otubre, 28, MonoSLAM MonoSLAM: Real-Time Single Camera SLAM Andrew J. Davion, Ian D. Reid, Nihola D. Molton, and Olivier Stae, IEEE PAMI, v.29, n.6, junio 27, pp , ICCV23. Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 8
5 Ejemplo Augmented Reality Hybrid Feature Traking and Uer Interation for Markerle Augmented Reality Taehee Lee, Tobia Höllerer, IEEE VR, 28. Driver Poe Traking Eye-traking Uing Salient Point for Robut Drowine Detetion Javier Jiménez-Pinto, Miguel Torre-Torriti, Robotia 2. Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 9 Manipuladore Móvile PR2 Willow Garage In. video Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2
6 Problem Deription: Poe Traking y x w z p k- y t zt z w y t O t p k zt O w yw Given:, Find: Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 p w O t x t Problem Deription: Egomotion/SLAM y x w z y t p zt z w p w O t xt O w yw Given:, Find: Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 2
7 Problem Deription: Viual Servoing y x w z y t p zt z w p w O t xt O w yw Given:, Find : Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 3 Problem Deription: Poe Etimation Given the urrent target view in the image: find the poition and orientation poe from whih the image wa taken. Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 4
8 Poe Etimation Solution. Given an initial gue of the amera poe, etimate the projetion of the target for thi poe, for example: 2. Update the amera etimated poe, until the target projetion from the etimated poe mathe that of the true target projetion: Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 5 Poe Etimation Solution Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 6
9 Bakground and Definition Coordinate ytem and tranformation Camera motion Camera perpetive projetion Interation matrix image Jaobian or feature enitivity matrix Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 7 Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 8
10 Camera poe: Tait-Bryan angle Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 9 Camera motion: Intantaneou amera veloity Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 2
11 Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 2 Camera motion model Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 22
12 We need to expre point in the world a point relative to amera oordinate y p w y w x w θ Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 23 We need to expre point in the world a point relative to amera oordinate y y w p p w x w θ Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 24
13 p y x y w θ w Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 25 y w y p w p x θ w y w p Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 26
14 y w y p w p x θ w y w p y y w p x θ Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 27 y w y p w p x θ w y p y w p y y w p x θ y w w x Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 28
15 y w y p w p x θ w y p w p y w p y y w p x θ y w w x Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 29 World point in amera oordinate Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 3
16 Need to projet the point onto the optial plane Perpetive projetion y fy z y f Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 3 z Y Perpetive projetion Given Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 32
17 What happen with tati in the ene when the amera move onidering Point veloity relative to the amera: Differentiating ψ,ψ w.r.t. to time: Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 33 We are ready to obtain the image Jaobian After replaing in the latter expreion: where i the interation matrix:! i not diretly available! In pratie only an approximated an be omputed! Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 34
18 Solution Approahe Diret minimization approah Virtual viual ervoing VVS Éri Marhand and Françoi Chaumette. Virtual Viual Servoing: a framework for real-time augmented reality. Eurographi 22, v. 2, n. 3, pp. -9, 22. Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 35 Poe Etimation: Diret Minimization Approah Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 36
19 Poe Etimation: VSS Approah Find a motion ontrol uh that: Realling: and differentiating w.r.t. time Now ine: Equating and 2 Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 37 Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 38
20 Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 39 Conluion Diret minimization approahe uing Nedler-Mead method: require at leat 2 time more iteration. work even under diffiult ondition, e.g. amera entered w.r.t. to the targed and orthogonal to it, but rotated 8º. VVS and diret minimization uing the Levenberg- Marquardt approah: do not work for ertain poe. are very fat and moother if the initial gue i in a neighborhood of the atual poe. We mut tudy more robut alternative for the poe etimation problem: Main trend i to onider other feature o that the interation matrix i invertible. Study Monte Carlo/UKF-baed method. Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 4
21 ROBOTICS AND AUTOMATION LABORATORY Departament of Eletrial Engineering PONTIFICIA UNIVERSIDAD CATÓLICA DE CHILE IEEE SMC 29 Driver Alert State and Fatigue Detetion by Salient Point Analyi Javier Jiménez Miguel Torre Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 4 Objetive Develop a ytem apable of alerting the driver about low level of attentivene due to drowine. Sytem harateriti: Non-invaive Robut Low ot A novelty of the approah i in the ue of alient point intead of diretly extrating the pupil Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 42
22 Motivation Drowy/inattentive driver aue many road aident:, aident/year in the US due to driver falling aleep =,5 killed/7, injured NHTSA 25% of fatal aident in Germany due to drowy driver GDV Limited effetivene of low ot ytem High ot of more advaned ytem Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 43 Motivation Important tep toward autonomou vehile Mining indutry Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 44
23 Exiting olution Head movement detetor: $ 4.95 USD Nap-Zapper-Driver-Alert-Alarm ee Amazon.om Drowine detetion glae: $ 2, USD Optalert Operator Fatigue Management Sytem ee Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 45 Luxury Car: $ 3, 5, USD 2 Volvo XC6 City Safety Driver Alert Control 2 Merede-Benz E-Cla 29 Merede-Benz S-Cla Night View Ait PLUS Attention Ait teering wheel movement Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 46
24 Sytem Component Alarm ound/vibrating eat-belt Computer Diplay IR Camera with 85 nm LED and pa-band filter Work day and night Robut to hange in illumination Exploit high refletivity of the retina at 85 nm Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 47 Algorithm Deription Initialize Capture Extrat/Trak Salient Point Validate every n-frame Detet Eye, Eyebrow, Mouth Etimate Drowine Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 48
25 Algorithm Deription Initialize Capture Detet Fae Viola-Jone Extrat Salient Point Shi-Tomai Capture Extrat/Trak Salient Point Salient point traking uing Lua-Kanade algorithm Head traking uing EKF Validate every n-frame Detet Eye, Eyebrow, Mouth Capture Detet Fae Viola-Jone Chek traked point are loe to expeted loation H/V gradient projetion Cirular onvolution mak Salient point in bounding boxe Etimate Drowine Eye PERCLOS, blinking rate Yawning and eyebrow raiing from patial ditribution of alient point Fuzzy rule Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 49 Shi-Tomai alient point are eay to trak... We ue Lua-Kanade approah to optial flow omputation Point are weighted aording to their degree of alieny Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 5
26 Centroid provide good referene point... Shi-Tomai i-th alient point entroid = referene point Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 5 Head-Body Motion Model and DOF Fae modeled a a plane in 3D pae Salient point are 2D Fae point are 3D Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 52
27 Robótia 53 Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 Affine matrie determine the faial plane 2 2 2,,,, M M Ma Hb M M Diret kinemati: Robótia 54 Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 Tranformation between World and Camera Coordinate Mt Mr
28 Homogeneou Tranformation Matrie Mt C P D Mr M F P C C Pixh P Dh fo D faepivotx faepivot y Pix w Dh fo Nf Mpov pov fo F fo Hb Dh Nf Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 55 New head poe an be found from the alient point motion : 3D point in the faial plane : 2D traked point in amera oordinate : alieny fator : number of alient point Obtained uing L-K optial flow algorithm Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 56
29 New head poe an be found from the alient point motion : 3D point in the faial plane : 2D traked point in amera oordinate : alieny fator : number of alient point Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 57 ROI are updated aording to the new head poe Help to retrit the area where eye mut be earhed ROI Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 58
30 Eye Detetion - dilated pupil Low light -> dilated pupil -> retina i learly viible Adaptive threholding taking advantage of the retina high refletivity Validation proe baed on the poition ymmetry If detetion fail ue next approah Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 59 Eye Detetion ontrated pupil Daylight -> maller pupil -> ue projetion Vertial Projetion Vertial Projetion? Y-oordinate Horizontal Projetion Horizontal Laplaian Filter X-oordinate Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 6
31 Eye and alient point traking Pupil are traked relative to the loation of the alient point entroid... The relative loation vetor at iteration ψ Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 6 Eye and alient point traking On every iteration an etimate of the relative vetor i omputed uing a IIR t order filter: Thi allow to etimate the poition of pupil even when the pupil i not viible due to blinking! Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 62
32 Validation Criteria. Suffiient number of point in the ROI 2. Suffiient pread of the point in the ROI high pread, low ount high ount, low pread Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 63 Blink detetion Cheking the average intenity of the Laplaian image... open loed Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 64
33 Yawning and eyebrow riing detetion Analizing the patial variane of alient point over time i poible to etimate when yawning or eyebrow riing our. Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 65 Reult: Eye Traking Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 66
34 Reult: Blink Detetion Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 67 Reult : Eyebrow Riing Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 68
35 Reult: Yawn Detetion Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 69 Conluion A novel ontribution of the approah i in the ue of alient point Salient point provide reliable evidene of where the eye are, and thu make the algorithm more robut to driver udden motion or temporary oluion Head poe etimation uing an approximated 3D model and a EKF ignifiantly improve the traking of the head Ongoing reearh i onerned with the alibration of the drowine ue provided by the algorithm and the atual level of drowine Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 7
36 RAL FIN V ESCUELA DE INVIERNO PARA LA DIVULGACION DE LA ROBÓTICA, NANOTECNOLOGIA Y NEUROCIENCIA Univeridad Ténia Federio Santa María 5 julio 2 ral.ing.pu.l Laboratorio de Robótia y Automatizaión Euela de Ingeniería Pontifiia Univeridad Católia de Chile Robótia Servopoiionamiento y Etimaión de Poe M. Torre-Torriti Julio 2 7
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