Prediction of the scene quality for stereo vision-based autonomous navigation

被引：3

作者：

Roggeman, Helene ^{[1
]}

Marzat, Julien ^{[1
]}

Bernard-Brunel, Anthelme ^{[1
]}

Le Besnerais, Guy ^{[1
]}

机构：

[1] Off Natl Etud & Rech Aerosp, F-91123 Palaiseau, France

来源：

IFAC PAPERSONLINE | 2016年 / 49卷 / 15期

关键词：

Autonomous vehicles; Robot navigation; Stereo vision; Model Predictive Control;

D O I：

10.1016/j.ifacol.2016.07.715

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents an autonomous navigation architecture for a robot using stereo vision-based localisation. The main contribution is the prediction of the quality of future localisation of the system in order to detect and avoid areas where vision-based localisation may fail, due to lack of texture in the scene. A criterion based on the estimation of future visible landmarks, considering uncertainties oil landmarks and camera positions, is integrated in a Model Predictive Control loop to compute safe trajectories with respect to the visual localisation. The system Was tested on a mobile robot and the obtained results demonstrate the effectiveness of our method. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by ElsevierLtd. All rights reserved.

引用

页码：94 / 99

页数：6

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