Outdoor autonomous navigation using monocular vision

Author

Royer, Eric ; Bom, Jonathan ; Dhome, Michel ; Thuilot, Benoit ; Lhuillier, Maxime ; Marmoiton, François

Author_Institution

LASMEA UMR, CNRS, Aubiere, France

fYear

2005

fDate

2-6 Aug. 2005

Firstpage

1253

Lastpage

1258

Abstract

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.

Keywords

image sequences; mobile robots; navigation; path planning; position control; robot vision; vehicles; video signal processing; map building; monocular vision; outdoor autonomous navigation; outdoor robot navigation; robot trajectory; urban electric vehicle; video sequence; Cameras; Global Positioning System; Humans; Navigation; Remotely operated vehicles; Robot kinematics; Robot sensing systems; Robot vision systems; Simultaneous localization and mapping; Trajectory; map building; monocular vision; robot navigation; urban vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8912-3

Type

conf

DOI

10.1109/IROS.2005.1545495

Filename

1545495