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1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE

Abstract : Autonomous cars will likely play an important role in the future. A vision system designed to support outdoor navigation for such vehicles has to deal with large dynamic environments, changing imaging conditions, and temporary occlusions by other moving objects. This paper presents a novel appearance-based navigation framework relying on a single perspective vision sensor, which is aimed towards resolving of the above issues. The solution is based on a hierarchical environment representation created during a teaching stage, when the robot is controlled by a human operator. At the top level, the representation contains a graph of key-images with extracted 2D features enabling a robust navigation by visual servoing. The information stored at the bottom level enables to efficiently predict the locations of the features which are currently not visible, and eventually re-start their tracking. The outstanding property of the proposed framework is that it enables robust and scalable navigation without requiring a globally consistent map, even in interconnected environments. This result has been confirmed by realistic off-line experiments and successful real-time navigation trials in public urban areas.





Author: S. Segvic - A. Remazeilles - A. Diosi - François Chaumette -

Source: https://hal.archives-ouvertes.fr/



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