Jump to : Download | Abstract | Contact | BibTex reference | EndNote reference |


A. Cherubini, B. Grechanichenko, F. Spindler, F. Chaumette. Avoiding Moving Obstacles during Visual Navigation. In IEEE Int. Conf. on Robotics and Automation, ICRA'13, Pages 3054-3059, Karlsruhe, Germany, May 2013.

Download [help]

Download paper: Doi page

Download Hal paper: Hal : Hyper Archive en ligne

Download paper: Adobe portable document (pdf) pdf

Copyright notice:

This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder. This page is automatically generated by bib2html v217, © Inria 2002-2024, Projet Lagadic/Rainbow


Moving obstacle avoidance is a fundamental re- quirement for any robot operating in real environments, where pedestrians, bicycles and cars are present. In this work, we design and validate a new approach that takes explicitly into account obstacle velocities, to achieve safe visual navigation in outdoor scenarios. A wheeled vehicle, equipped with an actuated pinhole camera and with a lidar, must follow a path represented by key images, without colliding with the obstacles. To estimate the obstacle velocities, we design a Kalman-based observer. Then, we adapt the tentacles designed in [1], to take into account the predicted obstacle positions. Finally, we validate our approach in a series of simulated and real experiments, showing that when the obstacle velocities are considered, the robot behaviour is safer, smoother, and faster than when it is not


Fabien Spindler
Francois Chaumette

BibTex Reference

   Author = {Cherubini, A. and Grechanichenko, B. and Spindler, F. and Chaumette, F.},
   Title = {Avoiding Moving Obstacles during Visual Navigation},
   BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA'13},
   Pages = {3054--3059},
   Address = {Karlsruhe, Germany},
   Month = {May},
   Year = {2013}

EndNote Reference [help]

Get EndNote Reference (.ref)