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

Diosi11a

A. Diosi, S. Segvic, A. Remazeilles, F. Chaumette. Experimental Evaluation of Autonomous Driving Based on Visual Memory and Image Based Visual Servoing. IEEE Trans. on Intelligent Transportation Systems, 12(3):870-883, September 2011.

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

Abstract

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 refer- ence images such that each neighboring pair contains a number of common landmarks. Local 3-D geometries are reconstructed between the neighboring reference images to achieve fast feature prediction. This condition allows recovery from tracking failures. During navigation, the robot is controlled using image-based vi- sual servoing. The focus of this paper is on the results from a num- ber of experiments that were conducted in different environments, lighting conditions, and seasons. The experiments with a robot car show that the framework is robust to moving objects and moderate illumination changes. It is also shown that the system is capable of online path learning

Contact

Francois Chaumette

BibTex Reference

@article{Diosi11a,
   Author = {Diosi, A. and Segvic, S. and Remazeilles, A. and Chaumette, F.},
   Title = {Experimental Evaluation of Autonomous Driving Based on Visual Memory and Image Based Visual Servoing},
   Journal = {IEEE Trans. on Intelligent Transportation Systems},
   Volume = {    12},
   Number = {3},
   Pages = {870--883},
   Month = {September},
   Year = {2011}
}

EndNote Reference [help]

Get EndNote Reference (.ref)