Outdoor autonomous navigation using monocular vision

被引：24

作者：

Royer, E ^{[1
]}

Bom, J ^{[1
]}

Dhome, M ^{[1
]}

Thuilot, B ^{[1
]}

Lhuillier, M ^{[1
]}

Marmoiton, F ^{[1
]}

机构：

[1] CNRS, LASMEA, UMR6602, F-63177 Aubiere, France

来源：

2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2005年

关键词：

robot navigation; monocular vision; map building; urban vehicles;

D O I：

10.1109/IROS.2005.1545495

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, a complete system for outdoor robot navigation is presented. It uses only monocular vision. The robot is first guided on a path by a human. During this learning step, the robot records a video sequence. From this sequence a three dimensional map of the trajectory and the environment is built. When this map has been computed, the robot is able to follow the same trajectory by itself, Experimental results carried out with an urban electric vehicle are shown and compared to the ground truth.

引用

页码：3395 / 3400

页数：6

共 18 条

[1] A fully projective formulation to improve the accuracy of Lowe's pose-estimation algorithm [J].