Autonomous navigation in ill-structured outdoor environment

Author

Fernández, Josep ; Casals, Alícia

Author_Institution

Dept. of Autom. Control & Comput. Eng., Univ. Politecnica de Catalunya, Barcelona, Spain

Volume

1

fYear

1997

fDate

7-11 Sep 1997

Firstpage

395

Abstract

Presents a methodology for autonomous navigation in weakly structured outdoor environments such as dirt roads or mountain ways. The main problem to solve is the detection of an ill-defined structure-the way-and the obstacles in the scene, when working in variable lighting conditions. First, we discuss the road description requirements to perform autonomous navigation in this kind of environment and propose a simple sensors configuration based on vision. A simplified road description is generated from the analysis of a sequence of color images, considering the constraints imposed by the model of ill-structured roads. This environment description is done in three steps: region segmentation, obstacle detection and coherence evaluation

Keywords

image colour analysis; image segmentation; intelligent control; mobile robots; object detection; path planning; robot vision; autonomous navigation; coherence evaluation; color images; dirt roads; ill-structured outdoor environment; mountain ways; obstacle detection; region segmentation; road description requirements; sensors configuration; variable lighting conditions; weakly structured outdoor environments; Automatic control; Control engineering computing; Image analysis; Image segmentation; Image sequence analysis; Layout; Navigation; Roads; Sensor phenomena and characterization; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on

Conference_Location

Grenoble

Print_ISBN

0-7803-4119-8

Type

conf

DOI

10.1109/IROS.1997.649093

Filename

649093