Monocular Navigation for Long-Term Autonomy

Kód výsledku v 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>

Nalezeny alternativní kódy

RIV/68407700:21730/13:00306947

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Monocular Navigation for Long-Term Autonomy

Popis výsledku v původním jazyce

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

Název v anglickém jazyce

Monocular Navigation for Long-Term Autonomy

Popis výsledku anglicky

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

Druh

D - Stať ve sborníku

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

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Projekt

<a href="/cs/project/7AMB12AR022" target="_blank" >7AMB12AR022: Kognitivní autonomní roboty II</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2013

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of the International Conference on Advanced Robotics 2013

ISBN

978-1-4799-2722-7

ISSN

—

e-ISSN

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Počet stran výsledku

6

Strana od-do

1-6

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Montevideo

Datum konání akce

25. 11. 2013

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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