A Versatile Visual Navigation System for Autonomous Vehicles
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00332097" target="_blank" >RIV/68407700:21230/19:00332097 - isvavai.cz</a>
Result on the web
<a href="https://link.springer.com/content/pdf/10.1007%2F978-3-030-14984-0.pdf" target="_blank" >https://link.springer.com/content/pdf/10.1007%2F978-3-030-14984-0.pdf</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-030-14984-0_8" target="_blank" >10.1007/978-3-030-14984-0_8</a>
Alternative languages
Result language
angličtina
Original language name
A Versatile Visual Navigation System for Autonomous Vehicles
Original language description
We present a universal visual navigation method which allows a vehicle to autonomously repeat paths previously taught by a human operator. The method is computationally efficient and does not require camera calibration. It can learn and autonomously traverse arbitrarily shaped paths and is robust to appearance changes induced by varying outdoor illumination and naturally-occurring environment changes. The method does not perform explicit position estimation in the 2d/3d space, but it relies on a novel mathematical theorem, which allows fusing exteroceptive and interoceptive sensory data in a way that ensures navigation accuracy and reliability. The experiments performed indicate that the proposed navigation method can accurately guide different autonomous vehicles along the desired path. The presented system, which was already deployed in patrolling scenarios, is provided as open source at www.github.com/gestom/stroll_bearnav.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
<a href="/en/project/GJ17-27006Y" target="_blank" >GJ17-27006Y: Spatio-temporal representations for life-long mobile robot navigation</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Modelling and Simulation for Autonomous Systems (MESAS 2018)
ISBN
978-3-030-14983-3
ISSN
0302-9743
e-ISSN
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Number of pages
21
Pages from-to
90-110
Publisher name
Springer International Publishing AG
Place of publication
Cham
Event location
Praha
Event date
Oct 17, 2018
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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