inria-00350600, version 1
A framework for scalable vision-only navigation
S. Segvic a, 1A. Remazeilles a, 1A. Diosi a, 1François Chaumette
a, 1
Advanced Concepts for Intelligent Vision Systems, ACIVS'07 (2007) 112-124
Résumé : 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.
- a – INRIA
- 1 : LAGADIC (INRIA - IRISA)
- CNRS : UMR6074 – INRIA – Université de Rennes 1
- Domaine : Informatique/Robotique
- inria-00350600, version 1
- http://hal.inria.fr/inria-00350600
- oai:hal.inria.fr:inria-00350600
- Contributeur : Eric Marchand
- Déposé pour le compte de :
- Soumis le : Mercredi 7 Janvier 2009, 14:01:49
- Dernière modification le : Dimanche 11 Janvier 2009, 15:01:19






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