Experimental evaluation of autonomous driving based on visual memory and image-based visual servoing

Simple item page
dc.contributor.authorDiosi, Albert
dc.contributor.authorŠegvić, Siniša
dc.contributor.authorRemazeilles, Anthony
dc.contributor.authorChaumette, François
dc.contributor.institutionMedical Technologies
dc.date.accessioned2024-07-24T12:10:37Z
dc.date.available2024-07-24T12:10:37Z
dc.date.issued2011-09
dc.description.abstractIn 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.statusPeer reviewed
dc.format.extent14
dc.identifier.citationDiosi , 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.doi10.1109/TITS.2011.2122334
dc.identifier.issn1524-9050
dc.identifier.urihttps://hdl.handle.net/11556/4095
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=80052390148&partnerID=8YFLogxK
dc.language.isoeng
dc.relation.ispartofIEEE Transactions on Intelligent Transportation Systems
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subject.keywordsLocalization
dc.subject.keywordsmapping
dc.subject.keywordspath following
dc.subject.keywordsvisual memory
dc.subject.keywordsvisual servoing
dc.subject.keywordsAutomotive Engineering
dc.subject.keywordsMechanical Engineering
dc.subject.keywordsComputer Science Applications
dc.titleExperimental evaluation of autonomous driving based on visual memory and image-based visual servoingen
dc.typejournal article
Files