NDLI: Experimental Evaluation of Autonomous Driving Based on Visual Memory and Image-Based Visual Servoing

Content Provider	IEEE Xplore Digital Library
Author	Diosi, A. Segvic, S. Remazeilles, A. Chaumette, F.
Copyright Year	2000
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 reference 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 visual servoing. The focus of this paper is on the results from a number 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.
Sponsorship	IEEE Intelligent Transportation Systems Society
Starting Page	870
Ending Page	883
Page Count	14
File Size	1518716
File Format	PDF
ISSN	15249050
Volume Number	12
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Robot kinematics Visualization Cameras Robot vision systems Feature extraction visual servoing Localization mapping path following visual memory
Content Type	Text
Resource Type	Article
Subject	Automotive Engineering Mechanical Engineering Computer Science Applications

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