This paper describes how visual features can be incorporated into the well known tentacles approach which up to now has only used LIDAR and GPS data and was therefore limited to scenarios with significant obstacles or non-flat surfaces along roads. In addition we present a visual feature considering only colour intensity which can be used to visually rate tentacles. The presented sensor fusion and colour based feature were both applied with great success at the C-ELROB 2009 robotic competition.
Fusing LIDAR and vision for autonomous dirt road following. Incorporating a visual feature into the tentacles approach
Zusammenführung von LIDAR- und Bilddaten zur Fahrspurerkennung bei verschmutzten Fahrspuren. Einfügen einer Bildeigenschaften in den Erkennungsalgorithmus
2009
8 Seiten, 4 Bilder, 8 Quellen
Conference paper
English
Autonomous Road Following: A Vision-Based Approach for AVCS
British Library Conference Proceedings | 1993
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