Title :
Visual guidance of an autonomous vehicle in natural environments based on reflexive control
Author :
Fernandez, Josep ; Martinez, Antonio B. ; Frau, Joan
Author_Institution :
Dept. of Autom. Control & Comput. Eng., Universistat Politecnica de Catalunya, Barcelona, Spain
Abstract :
Autonomous navigation in outdoor environments is a complex task that until today is realized with high cost systems. This paper presents a system for autonomous navigation in weakly structured and outdoor environments like mountain ways. The main goals are to design a robust, cheap and fast system. The proposed solution constructs a simple scene description by region segmentation and analysis of the region variation in a sequence of color images. Then, reflexive planning calculates a locally optimal travel direction from the available information.
Keywords :
computer vision; image segmentation; image sequences; navigation; path planning; road vehicles; autonomous vehicle; color image sequence; navigation; outdoor environments; reflexive control; reflexive planning; region segmentation; scene description; travel direction; Costs; Image analysis; Image color analysis; Image segmentation; Image sequence analysis; Layout; Mobile robots; Navigation; Remotely operated vehicles; Robustness;
Conference_Titel :
Intelligent Vehicles '94 Symposium, Proceedings of the
Print_ISBN :
0-7803-2135-9
DOI :
10.1109/IVS.1994.639481
