非结构化室外环境下的自主导航

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI:10.1109/IROS.1997.649093

Josep Fernández, A. Casals

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引用次数: 23

摘要

提出了一种在弱结构室外环境(如土路或山路)中自主导航的方法。要解决的主要问题是，当在可变光照条件下工作时，检测不明确的结构——道路和场景中的障碍物。首先，我们讨论了在这种环境下进行自主导航的道路描述要求，并提出了一种基于视觉的简单传感器配置。考虑到非结构道路模型所施加的约束，通过分析一系列彩色图像生成简化的道路描述。该环境描述分为三个步骤:区域分割、障碍物检测和相干性评估。

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Autonomous navigation in ill-structured outdoor environment

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.

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来源期刊

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97

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