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A framework for scalable vision-only navigation

S. Segvic 1 A. Remazeilles 1 A. Diosi 1 François Chaumette 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : 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.
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https://hal.inria.fr/inria-00350600
Contributor : Eric Marchand <>
Submitted on : Wednesday, January 7, 2009 - 2:01:49 PM
Last modification on : Friday, July 10, 2020 - 4:08:19 PM
Long-term archiving on: : Tuesday, June 8, 2010 - 6:52:48 PM

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  • HAL Id : inria-00350600, version 1

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S. Segvic, A. Remazeilles, A. Diosi, François Chaumette. A framework for scalable vision-only navigation. Advanced Concepts for Intelligent Vision Systems, ACIVS'07, 2007, Delft, Netherlands. pp.112-124. ⟨inria-00350600⟩

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