Title :
Vision Based Vehicle Localization for Autonomous Navigation
Author :
Velat, Steven J. ; Lee, Jaesang ; Johnson, Nicholas ; Crane, Carl D., III
Abstract :
The vast majority of Autonomous Ground Vehicles in development today operate with GPS based navigation systems. While the accuracy of GPS systems has improved greatly over the previous decade, the stability of their signal has not. The phenomenon is commonly known as "drift" and may have a magnitude of more than a few meters. This paper outlines a method for vision based correction and localization of vehicle position through consideration of a priori information and perceived road characteristics. The approach is called Vision Based Position Correction for Urban Environments, and it will be deployed in the 2007 DARPA Urban Challenge.
Keywords :
Global Positioning System; mobile robots; path planning; robot vision; vehicles; GPS based navigation systems; autonomous ground vehicles; autonomous navigation; drift phenomenon; urban environments; vision based position correction; vision based vehicle localization; Cameras; Error correction; Global Positioning System; Image edge detection; Intelligent sensors; Land vehicles; Mobile robots; Navigation; Remotely operated vehicles; Road vehicles;
Conference_Titel :
Computational Intelligence in Robotics and Automation, 2007. CIRA 2007. International Symposium on
Conference_Location :
Jacksonville, FI
Print_ISBN :
1-4244-0790-7
Electronic_ISBN :
1-4244-0790-7
DOI :
10.1109/CIRA.2007.382905