Outdoor Visual Path Following Experiments (CROSBI ID 530344)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Diosi, Albert ; Remazeilles, Anthony ; Šegvić, Siniša, Chaumette, Francois
engleski
Outdoor Visual Path Following Experiments
In this paper the performance of a topological- metric visual path following framework is investigated in different environments. The framework relies on a monocular camera as the only sensing modality. The path is represented as a series of reference images such that each neighboring pair contains a number of common landmarks. Local 3D geometries are reconstructed between the neighboring reference images in order to achieve fast feature prediction which allows the recovery from tracking failures. During navigation the robot is controlled using image-based visual servoing. The experiments show that the framework is robust against moving objects and moderate illumination changes. It is also shown that the system is capable of on-line path learning.
Path following; autonomous navigation; visual servoing
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Podaci o prilogu
4265-4270.
2007.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'07
Thomas C. Henderson
San Diego (CA): Institute of Electrical and Electronics Engineers (IEEE)
978-1-4244-0912-9
Podaci o skupu
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'07
predavanje
30.10.2007-02.11.2007
San Diego (CA), Sjedinjene Američke Države