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.
Type de document :
Communication dans un congrès
IEEE. ICARV 2002: The Seventh International Conference on Control, Automation, Robotics and Vision, Dec 2002, Singapore, Singapore. IEEE, pp.757-762, 7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 〈http://www.ieee-ras.org/conferences-workshops/technically-co-sponsored/icarcv/〉. 〈10.1109/ICARCV.2002.1238517〉
Liste complète des métadonnées


https://hal.inria.fr/hal-01915083
Contributeur : Alain Monteil <>
Soumis le : mercredi 7 novembre 2018 - 12:22:40
Dernière modification le : mercredi 13 février 2019 - 10:45:09

Fichiers

01238517.pdf
Fichiers produits par l'(les) auteur(s)

Licence


Distributed under a Creative Commons Paternité 4.0 International License

Identifiants

Collections

Citation

Michel Parent, Edern Ollivier. Odometric navigation with matching of landscape features. IEEE. ICARV 2002: The Seventh International Conference on Control, Automation, Robotics and Vision, Dec 2002, Singapore, Singapore. IEEE, pp.757-762, 7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 〈http://www.ieee-ras.org/conferences-workshops/technically-co-sponsored/icarcv/〉. 〈10.1109/ICARCV.2002.1238517〉. 〈hal-01915083〉

Partager

Métriques

Consultations de la notice

189

Téléchargements de fichiers

73