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Research Infrastructure for Real-Time Computer Vision and Decision Making

via Mobile Robots

(Awards CNS 2120430, 2119115, 2120333, 2120322, 2112778)

Yung-Hsiang Lu, Yiran Chen, James Goppert, Kristen Grauman, John Mott,

Shaoshuai Mou, Kate Saenko, Shreyas Sundaram, Wei Zakharov

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Invitation: Purdue Aviation Day 2025/04/05 9AM-4PM

8,200 attendees in 2024

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Infrastructure and Research Major Sponsors

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Phase

Sponsor

Amount (Approximate)

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Donation

1.5M

NSF CCRI (this grant)

2M

2

ONR / Saab

13M

DARPA

6.5M

Windracers

5M

Total

​

28M

3 (pending)

-

2M

-

18M

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Infrastructure Overview

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Facility Capabilities

  • WORLD’S LARGEST indoor motion capture facility, 20,000 sq ft. 30 ft ceiling
    • Support for large and fast moving vehicles such as fixed-wing aircraft
    • Recreation of large environments
  • Motion capture tracks rigid bodies with active or passive markers and enables:
    • Mixed-reality environments
    • Sensor-emulation: GPS, ultra-sonic, ADS-B, LIDAR, ToF, camera, etc.
    • Real-time feedback of position for closed-loop control
    • Ground truth: Provides mm accurate position and 0.1 deg attitude for typical UAS

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Real-Time Data for Close-Loop Control

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Sample Projects

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Cyber-Physical Security in Smart Cities

Vision-Based Monitoring

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Safety Assured Autonomy in Uncertainty (e.g., wind)

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building

invariant set

trajectories

Light Wind

building

invariant set

trajectories

collision

High Wind

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Light Wind

Strong Wind

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Real-Time Tracking

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Fixed-Wing Outdoor Flights

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Simulation

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Vertical Farming

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Search and Rescue

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Narcan Delivery Drone for Opioid Overdose

  • 87,000 deaths (2023/10 - 2024/09)
  • 114,000 death (2022/10 - 2023/09)

for comparison: deaths from motor vehicles

  • 40,900 in 2023
  • 42,500 in 2022

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Invitation: Purdue Aviation Day 2025/04/05 9AM-4PM

8,200 attendees in 2024

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The slides are available at this link.

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