A visual navigation system for autonomous land vehicles

Waxman, Allen M.; LeMoigne, Jacqueline; Davis, Larry S.; Srinivasan, Balaji Vasan; Kushner, Todd R.; Liang, Eli; Siddalingaiah, T.

doi:10.1109/jra.1987.1087089

Cited by 196 publications

(53 citation statements)

References 12 publications

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“…Other pioneering research contributions on computer vision for road following include those of Waxman's et al [154], [155], Wallace et al [152] and Wallace [153], Lawton et al [88], Goto and Stentz [45], Kuan et al [83] and Kuan and Sharma [84], and others.…”

Section: Outdoor Navigation In Structured Environmentsmentioning

confidence: 99%

Vision for mobile robot navigation: a survey

DeSouza

Kak

2002

IEEE Trans. Pattern Anal. Machine Intell.

1,192

504

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Abstract-This paper surveys the developments of the last 20 years in the area of vision for mobile robot navigation. Two major components of the paper deal with indoor navigation and outdoor navigation. For each component, we have further subdivided our treatment of the subject on the basis of structured and unstructured environments. For indoor robots in structured environments, we have dealt separately with the cases of geometrical and topological models of space. For unstructured environments, we have discussed the cases of navigation using optical flows, using methods from the appearance-based paradigm, and by recognition of specific objects in the environment.

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Section: Outdoor Navigation In Structured Environmentsmentioning

confidence: 99%

Vision for mobile robot navigation: a survey

DeSouza

Kak

2002

IEEE Trans. Pattern Anal. Machine Intell.

1,192

504

View full text Add to dashboard Cite

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“…A list of vehicle-centered 3D points denoting left and right edges were used to represent the road in [5]. A sequence of vanishing points can be used to represent the 3D shape of a curved road as in [6] [7]. A differential geometry, decoupled for horizontal and vertical curvature, is another solution for road representation [8].…”

Section: Literature Reviewmentioning

confidence: 99%

“…Thus a centerline based representation is more preferable in explicitly indicating a specific route for the vehicle to follow. The vanishing point-based methods [6] [7] involve a vanishing point-road direction conversion, which is an extra overhead. The method, working on differential geometry [8], is a type of continuous representation, requiring complicated computations for vehicle movement.…”

Section: Literature Reviewmentioning

confidence: 99%

A 3-D Traffic Animation System with Storm Surge Response

Li¹,

Chatterjee²,

Chen³

et al. 2009

2009 11th IEEE International Symposium on Multimedia

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Abstract-This paper presents a 3D traffic animation system that provides features of vehicle interaction and storm surge response to emulate realistic scenarios in a hurricane affected area. The proposed system constructs road objects based on a series of line segments. Vehicles on the roads are animated by keeping them coherent with the direction of the road segment and adjusting their speeds with respect to one another. The vehicle speed is controlled based upon a collision-circumventing policy and they automatically respond to flood water caused by a storm surge. The system can automatically plant lamp posts along the roads, which also respond to surge flooding. An implementation conducted with the 3D scenes on a couple of south Florida's surge-susceptible areas demonstrates the system's excellence in animating real traffic scenes and impacts of storm surge on coastal regions.

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“…From the assumption that x hd1 (t),ẋ hd1 (t), x hd2 (t), d (t), and˙ d (t) are constructed as bounded functions, and the fact thatē 2 (t), e 3 (t) L , the expressions in (19), (27), and (30) can be used to prove that e 2 (t), x h1 (t), x h2 (t), (t), c (t) L . Based on the previous development, the expressions in (29), (31), and (32) can be used to conclude that v c (t),…”

Section: B Closed-loop Error Systemmentioning

confidence: 99%

“…Given this motivation, researchers initially targeted the use of a variety of sonar and laser-based sensors. Some initial work also targeted the use of a fusion of various sensors to build a map of the environment for WMR navigation (see [17], [19], [28], [29], [31], and the references within). While this is still an active area of research, various shortcomings associated with these technologies and recent advances in image extraction/interpretation technology and advances in control theory have motivated researchers to investigate the sole use of camera-based vision systems for autonomous navigation.…”

Section: Introductionmentioning

confidence: 99%

Homography-based visual servo tracking control of a wheeled mobile robot

Chen

Dixon

Dawson

et al.

Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)

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A visual servo tracking controller is developed in this paper for a monocular camera system mounted on an underactuated wheeled mobile robot (WMR) subject to nonholonomic motion constraints (i.e., the camera-in-hand problem). A prerecorded image sequence (e.g., a video) of three target points is used to define a desired trajectory for the WMR. By comparing the target points from the prerecorded sequence with the corresponding target points in the live image, projective geometric relationships are exploited to construct a Euclidean homography. The information obtained by decomposing the Euclidean homography is used to develop a kinematic controller. A Lyapunovbased analysis is used to develop an adaptive update law to actively compensate for the lack of depth information required for the translation error system.

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A visual navigation system for autonomous land vehicles

Cited by 196 publications

References 12 publications

Vision for mobile robot navigation: a survey

Vision for mobile robot navigation: a survey

A 3-D Traffic Animation System with Storm Surge Response

Homography-based visual servo tracking control of a wheeled mobile robot

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