Monocular Navigation for Long-Term Autonomy
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F13%3A00211789" target="_blank" >RIV/68407700:21230/13:00211789 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/13:00306947
Result on the web
<a href="http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6766591&isnumber=6766447&tag=1" target="_blank" >http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6766591&isnumber=6766447&tag=1</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICAR.2013.6766591" target="_blank" >10.1109/ICAR.2013.6766591</a>
Alternative languages
Result language
angličtina
Original language name
Monocular Navigation for Long-Term Autonomy
Original language description
We present a reliable and robust monocular navigation system for an autonomous vehicle.The proposed method is computationally efficient, needs off-the-shelf equipment only and does not require any additional infrastructure like radio beacons or GPS. Contrary to traditional localization algorithms, which use advanced mathematical methods to determine vehicle position, our method uses a more practical approach. In our case, an image-feature-based monocular vision technique determines only the heading of the vehicle while the vehicle's odometry is used to estimate the distance traveled. We present a mathematical proof and experimental evidence indicating that the localization error of a robot guided by this principle is bound. The experiments demonstratethat the method can cope with variable illumination, lighting deficiency and both short- and long-term environment changes. This makes the method especially suitable for deployment in scenarios which require long-term autonomous operation
Czech name
—
Czech description
—
Classification
Type
D - Article in proceedings
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
—
Result continuities
Project
<a href="/en/project/7AMB12AR022" target="_blank" >7AMB12AR022: Cognitive Autonomous Robots II</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2013
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the International Conference on Advanced Robotics 2013
ISBN
978-1-4799-2722-7
ISSN
—
e-ISSN
—
Number of pages
6
Pages from-to
1-6
Publisher name
IEEE
Place of publication
Piscataway
Event location
Montevideo
Event date
Nov 25, 2013
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
—