This work introduces a 3D visibility model for comfortable autonomous vehicles. The model computes a visibility index based on the pose of the wheelchair within the environment. We correlate this index with human navigational comfort (discomfort) and we discuss the importance of modeling visibility to improve human riding comfort. The proposed approach models the 3D visual field of view combined with a two-layered environmental representation. The field of view is modeled with information from the pose of the robot, a 3D laser sensor and a two-layered environmental representation composed of a 3D geometric map with traversale area information. Human navigational discomfort was extracted from participants riding the autonomous wheelchair. Results show that there is fair correlation between poor visibility locations (e.g., blind corners) and human discomfort. The approach can model places with identical traversable characteristics but different visibility and it differentiates visibility characteristics according to traveling direction.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Visibility analysis for autonomous vehicle comfortable navigation


    Beteiligte:


    Erscheinungsdatum :

    2014-05-01


    Format / Umfang :

    2606573 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Autonomous vehicle with comfortable passenger compartment

    WANG SHIMING / GAO XIANGYI / ZHANG XUEQI | Europäisches Patentamt | 2023

    Freier Zugriff


    Comfortable autonomous navigation based on collision prediction in blind occluded regions

    Sawabe, Taishi / Kanbara, Masayuki / Ukita, Norimichi et al. | IEEE | 2015


    Comfortable ride for autonomous vehicles

    DOMINIC MARIA JOHN PAUL | Europäisches Patentamt | 2020

    Freier Zugriff

    Virtual Obstacle for a Safe and Comfortable Approach to Limited Visibility Situations in Urban Autonomous Driving

    Karanam, Sai Krishna / Duhautbout, Thibaud / Talj, Reine et al. | IEEE | 2022