Naslov
Outdoor Visual Path Following Experiments

Autori
Diosi, Albert ; Remazeilles, Anthony ; Šegvić, Siniša, Chaumette, Francois

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
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), 2007, 4265-4270

ISBN
978-1-4244-0912-9

Skup
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'07

Mjesto i datum
San Diego (CA), Sjedinjene Američke Države, 30.10.2007. - 02.11.2007

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Path following; autonomous navigation; visual servoing

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Računarstvo

POVEZANOST RADA