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

Segvic07b

S. Segvic, A. Remazeilles, A. Diosi, F. Chaumette. A framework for scalable vision-only navigation. In Advanced Concepts for Intelligent Vision Systems, ACIVS'07, Pages 112-124, Delft, The Netherlands, August 2007.

Download [help]

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 2002-2021, Projet Lagadic/Rainbow

Abstract

This paper presents a monocular vision framework enabling feature-oriented appearance-based navigation in large outdoor environ- ments containing other moving ob jects. The framework is based on a hybrid topological-geometrical environment representation, constructed from a learning sequence acquired during a robot motion under hu- man control. The framework achieves the desired navigation functional- ity without requiring a global geometrical consistency of the underlying environment representation. The main advantages with respect to con- ventional alternatives are unlimited scalability, real-time mapping and effortless dealing with interconnected environments once the loops have been properly detected. The framework has been validated in demanding, cluttered and interconnected environments, under different imaging con- ditions. The experiments have been performed on many long sequences acquired from moving cars, as well as in real-time large-scale navigation trials relying exclusively on a single perspective camera. The obtained results imply that a globally consistent geometric environment model is not mandatory for successful vision-based outdoor navigation

Contact

Francois Chaumette

BibTex Reference

@InProceedings{Segvic07b,
   Author = {Segvic, S. and Remazeilles, A. and Diosi, A. and Chaumette, F.},
   Title = {A framework for scalable vision-only navigation},
   BookTitle = {Advanced Concepts for Intelligent Vision Systems, ACIVS'07},
   Pages = {112--124},
   Address = {Delft, The Netherlands},
   Month = {August},
   Year = {2007}
}

EndNote Reference [help]

Get EndNote Reference (.ref)