Experimental evaluation of autonomous driving based on visual memory and image-based visual servoing
dc.contributor.author | Diosi, Albert | |
dc.contributor.author | Šegvić, Siniša | |
dc.contributor.author | Remazeilles, Anthony | |
dc.contributor.author | Chaumette, François | |
dc.contributor.institution | Medical Technologies | |
dc.date.accessioned | 2024-07-24T12:10:37Z | |
dc.date.available | 2024-07-24T12:10:37Z | |
dc.date.issued | 2011-09 | |
dc.description.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. | en |
dc.description.status | Peer reviewed | |
dc.format.extent | 14 | |
dc.identifier.citation | Diosi , A , Šegvić , S , Remazeilles , A & Chaumette , F 2011 , ' Experimental evaluation of autonomous driving based on visual memory and image-based visual servoing ' , IEEE Transactions on Intelligent Transportation Systems , vol. 12 , no. 3 , 5740604 , pp. 870-883 . https://doi.org/10.1109/TITS.2011.2122334 | |
dc.identifier.doi | 10.1109/TITS.2011.2122334 | |
dc.identifier.issn | 1524-9050 | |
dc.identifier.uri | https://hdl.handle.net/11556/4095 | |
dc.identifier.url | http://www.scopus.com/inward/record.url?scp=80052390148&partnerID=8YFLogxK | |
dc.language.iso | eng | |
dc.relation.ispartof | IEEE Transactions on Intelligent Transportation Systems | |
dc.rights | info:eu-repo/semantics/openAccess | |
dc.subject.keywords | Localization | |
dc.subject.keywords | mapping | |
dc.subject.keywords | path following | |
dc.subject.keywords | visual memory | |
dc.subject.keywords | visual servoing | |
dc.subject.keywords | Automotive Engineering | |
dc.subject.keywords | Mechanical Engineering | |
dc.subject.keywords | Computer Science Applications | |
dc.title | Experimental evaluation of autonomous driving based on visual memory and image-based visual servoing | en |
dc.type | journal article |