Odometric navigation with matching of landscape features

Abstract : This paper presents a technique to localize and guide outdoors vehicles by both vehicle odometry and landmark localization. In this case, we use reflective poles spaced out about 50 m apart and located at the front of the vehicle. The LADAR detects distances, angles, speed, and the position of obstacles within 20 m. Odometry is performed by a steering sensor and encoder attached at the vehicle differential. Using this information, the embedded system matches the vehicle's computed position with the location of the poles. Finally, passenger safety is ensured by an anti-collision subsystem thanks to the LADAR sensor.
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https://hal.inria.fr/hal-01915083
Contributor : Alain Monteil <>
Submitted on : Wednesday, November 7, 2018 - 12:22:40 PM
Last modification on : Wednesday, June 19, 2019 - 10:44:57 AM

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Distributed under a Creative Commons Attribution 4.0 International License

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Michel Parent, Edern Ollivier. Odometric navigation with matching of landscape features. ICARCV 2002: The Seventh International Conference on Control, Automation, Robotics and Vision, IEEE, Dec 2002, Singapore, Singapore. pp.757-762, ⟨10.1109/ICARCV.2002.1238517⟩. ⟨hal-01915083⟩

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