Outdoor visual path following experiments

A. Diosi 1 A. Remazeilles 1 S. Segvic 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 : In 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 3D geometries are reconstructed between the neighboring reference images in order to achieve fast feature prediction which allows the recovery from tracking failures. During navigation the robot is controlled using image-based visual servoing. The experiments show that the framework is robust against moving objects and moderate illumination changes. It is also shown that the system is capable of on-line path learning.
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Communication dans un congrès
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'07, 2007, San Diego, California, France. pp.4265-4270, 2007
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A. Diosi, A. Remazeilles, S. Segvic, François Chaumette. Outdoor visual path following experiments. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'07, 2007, San Diego, California, France. pp.4265-4270, 2007. 〈inria-00350644〉

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