nelson-bridwell posted on January 22, 2006, 1:29 pm
2006 Mobile Robotics Software Challenge
Saturday, June 24th, 2006
Portland State University
Portland, Oregon
www.MobileRobot.Org/MRSC.htm
Presented by the IEEE Robotics and Automation Society - Portland
Chapter,
and the Robotics and Automation Society Chapter at Portland State
University
--------------------------------------------------------------------------------
Competition Event:
Visual Odometry + Scavenger Hunt
Or...The...
egnellahC dnarG APRAD
(The DARPA Grand Challenge in Reverse!)
Instead of using a supplied set of coordinates to determine the path of
an autonomous vehicle, you will supply a system containing a computer
and sensors that will be placed on top of a mobile robot. The robot
will transport your system along an unknown trajectory for 10 minutes.
trajectory of the robot.
Some details:
The robot will move over a flat two-dimensional surface, so the
trajectory will fall entirely within a 2-D plane.
The trajectory of the robot might intersect with itself at one or more
locations.
The output of your system will be a list of the X,Y coordinates (feet)
and orientation (degrees) for each second, relative to the initial
position and orientation of the robot.
Your system will not have access to any data or signals from the robot.
The use of navigation instruments such as GPS, INS, gyros,
accelerometers, or compasses will not be allowed.
Sensors such as mono or stereo cameras are recommended.
The use of active optical or acoustic rangefinders such as LIDAR and
structured lighting sources such as laser pointers or light stripes
will be allowed. However, all entries that employ these sensors will
compete in a separate class from non-emitting vision systems.
You will not be allowed to place any navigational markers or devices in
the environment.
You will not be supplied with detailed information about the visual
environment in which the robot will be moving. However, it will be
safe to assume that the robot will not be operating in total darkness,
and the environment will not be totally devoid of visual or geometric
features.
Dimensional and weight limits for your system will be specified well in
advance of the event.
Because accumulated position error is so sensitive to orientation
errors, your score will be calculated from the sum of the absolute
value of the incremental errors, in addition to the absolute position
error at the very end of the path.
Bonus:
You will be given credit for correctly recognizing any moments when the
robot, if it were to continue on it's current trajectory, is in danger
of colliding with an obstacle within the next 5 seconds.
One day in advance, you will be supplied with images of one or more
target objects.
You will be given credit for correctly recognizing these target objects
whenever they come into view.
You will earn further credit if you are able to correctly determine the
total number of target object that are present (hence not over-counting
any target object that is observed more than once.)
You will earn additional credit for being able to accurately estimate
the coordinates of target objects.
What you need to compete:
A battery powered computer, such as a laptop computer.
One or more cameras such as a webcam that can be directly interfaced to
the computer.
A program development environment (such as C++) and a library of
real-time image capture routines.
--------------------------------------------------------------------------------
Competition Event:
Kidnap Problem + Obstacle Course
Each team will supply a robot which will be placed at an initial
location, turned on, and allowed to explore for 10 minutes. This
initial exploration may include the robot pushing or bumping various
objects such as boxes, balls, or doors. The robot will then be paused
and repositioned to a new location. The robot will attempt to return
to the original starting location, taking the shortest possible path.
Beyond mapping open space and recognizing locations, this task can be
used to demonstrate the ability of a mobile robot to observe,
understand, and utilize mechanical interactions between itself and
surrounding three-dimensional objects.
Some details:
The robot will move over a flat two-dimensional surface, so the
trajectory will fall entirely within a 2-D plane.
The use of navigation instruments such as GPS, INS, gyros,
accelerometers, or compasses will not be allowed.
Sensors such as mono or stereo cameras are recommended.
The use of active optical or acoustic rangefinders such as LIDAR and
structured lighting sources such as laser pointers or light stripes
will be allowed.
You will not be allowed to place any navigational markers or devices in
the environment.
You will not be supplied with detailed information about the visual
environment in which the robot will be moving. However, it will be
safe to assume that the robot will not be operating in total darkness,
and the environment will not be totally devoid of visual or geometric
features.
Dimensional limits for your robot will be specified well in advance of
the event.
What you need to compete:
A battery powered computer, such as a laptop computer.
A mobile robot that can be directly interfaced and controlled by your
computer.
One or more sensors such as a webcam that can be directly interfaced to
the computer.
A program development environment (such as C++) and a library of
real-time sensor data capture and robot control routines.
--------------------------------------------------------------------------------
General Information:
Schedule
8am - Noon: Competition Runs
1 pm - 5 pm: Technical Presentations
6 pm: Social Hour
7 pm: Dinner
8 pm: Awards Presentation and Guest Speaker/Debate
Competition
Each competition event will be divided into two environments:
Simple
Challenging
Each team will have 30 minutes (possibly more) to set up and make their
runs in these two environments.
Technical Presentations
Each team will present a 30 minute discussion about the capabilities,
limitations, and future prospects for their design approach.
Awards
First, second, and third place awards for each event will be presented
to winning teams.
Cost
There will be a $50 entry fee for each team.
There will not be an admission charge to view the competition events,
technical presentations, awards presentation, and guest speaker/debate.
There will be a per-person charge for the post-competition social hour
and dinner, which will be at a restaurant in downtown Portland.
Comments: Nelson Bridwell - Bridwell@MobileRobot.Org
Saturday, June 24th, 2006
Portland State University
Portland, Oregon
www.MobileRobot.Org/MRSC.htm
Presented by the IEEE Robotics and Automation Society - Portland
Chapter,
and the Robotics and Automation Society Chapter at Portland State
University
--------------------------------------------------------------------------------
Competition Event:
Visual Odometry + Scavenger Hunt
Or...The...
egnellahC dnarG APRAD
(The DARPA Grand Challenge in Reverse!)
Instead of using a supplied set of coordinates to determine the path of
an autonomous vehicle, you will supply a system containing a computer
and sensors that will be placed on top of a mobile robot. The robot
will transport your system along an unknown trajectory for 10 minutes.
trajectory of the robot.
Some details:
The robot will move over a flat two-dimensional surface, so the
trajectory will fall entirely within a 2-D plane.
The trajectory of the robot might intersect with itself at one or more
locations.
The output of your system will be a list of the X,Y coordinates (feet)
and orientation (degrees) for each second, relative to the initial
position and orientation of the robot.
Your system will not have access to any data or signals from the robot.
The use of navigation instruments such as GPS, INS, gyros,
accelerometers, or compasses will not be allowed.
Sensors such as mono or stereo cameras are recommended.
The use of active optical or acoustic rangefinders such as LIDAR and
structured lighting sources such as laser pointers or light stripes
will be allowed. However, all entries that employ these sensors will
compete in a separate class from non-emitting vision systems.
You will not be allowed to place any navigational markers or devices in
the environment.
You will not be supplied with detailed information about the visual
environment in which the robot will be moving. However, it will be
safe to assume that the robot will not be operating in total darkness,
and the environment will not be totally devoid of visual or geometric
features.
Dimensional and weight limits for your system will be specified well in
advance of the event.
Because accumulated position error is so sensitive to orientation
errors, your score will be calculated from the sum of the absolute
value of the incremental errors, in addition to the absolute position
error at the very end of the path.
Bonus:
You will be given credit for correctly recognizing any moments when the
robot, if it were to continue on it's current trajectory, is in danger
of colliding with an obstacle within the next 5 seconds.
One day in advance, you will be supplied with images of one or more
target objects.
You will be given credit for correctly recognizing these target objects
whenever they come into view.
You will earn further credit if you are able to correctly determine the
total number of target object that are present (hence not over-counting
any target object that is observed more than once.)
You will earn additional credit for being able to accurately estimate
the coordinates of target objects.
What you need to compete:
A battery powered computer, such as a laptop computer.
One or more cameras such as a webcam that can be directly interfaced to
the computer.
A program development environment (such as C++) and a library of
real-time image capture routines.
--------------------------------------------------------------------------------
Competition Event:
Kidnap Problem + Obstacle Course
Each team will supply a robot which will be placed at an initial
location, turned on, and allowed to explore for 10 minutes. This
initial exploration may include the robot pushing or bumping various
objects such as boxes, balls, or doors. The robot will then be paused
and repositioned to a new location. The robot will attempt to return
to the original starting location, taking the shortest possible path.
Beyond mapping open space and recognizing locations, this task can be
used to demonstrate the ability of a mobile robot to observe,
understand, and utilize mechanical interactions between itself and
surrounding three-dimensional objects.
Some details:
The robot will move over a flat two-dimensional surface, so the
trajectory will fall entirely within a 2-D plane.
The use of navigation instruments such as GPS, INS, gyros,
accelerometers, or compasses will not be allowed.
Sensors such as mono or stereo cameras are recommended.
The use of active optical or acoustic rangefinders such as LIDAR and
structured lighting sources such as laser pointers or light stripes
will be allowed.
You will not be allowed to place any navigational markers or devices in
the environment.
You will not be supplied with detailed information about the visual
environment in which the robot will be moving. However, it will be
safe to assume that the robot will not be operating in total darkness,
and the environment will not be totally devoid of visual or geometric
features.
Dimensional limits for your robot will be specified well in advance of
the event.
What you need to compete:
A battery powered computer, such as a laptop computer.
A mobile robot that can be directly interfaced and controlled by your
computer.
One or more sensors such as a webcam that can be directly interfaced to
the computer.
A program development environment (such as C++) and a library of
real-time sensor data capture and robot control routines.
--------------------------------------------------------------------------------
General Information:
Schedule
8am - Noon: Competition Runs
1 pm - 5 pm: Technical Presentations
6 pm: Social Hour
7 pm: Dinner
8 pm: Awards Presentation and Guest Speaker/Debate
Competition
Each competition event will be divided into two environments:
Simple
Challenging
Each team will have 30 minutes (possibly more) to set up and make their
runs in these two environments.
Technical Presentations
Each team will present a 30 minute discussion about the capabilities,
limitations, and future prospects for their design approach.
Awards
First, second, and third place awards for each event will be presented
to winning teams.
Cost
There will be a $50 entry fee for each team.
There will not be an admission charge to view the competition events,
technical presentations, awards presentation, and guest speaker/debate.
There will be a per-person charge for the post-competition social hour
and dinner, which will be at a restaurant in downtown Portland.
Comments: Nelson Bridwell - Bridwell@MobileRobot.Org
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