Paper Info
Title
Template-based autonomous navigation in urban environments
Abstract
Autonomous navigation is a fundamental task in mobile robotics. In the last years, several approaches have been addressing the autonomous navigation in outdoor environments. Lately it has also been extended to robotic vehicles in urban environments. This paper focus in the road identification problem, which is an important capability to autonomous vehicle drive. Our approach is based on image processing, template matching classification, and finite state machines processing. The proposed system allows to train an image segmentation algorithm in order to identify navigable and non-navigable regions (inside/outside roads), generating as output the steering control for an Electric Autonomous Vehicle, that should stay following the road. Several experimental tests have been carried out under different environmental conditions to evaluate the proposed techniques.
Year
DOI
Venue
2011
10.1145/1982185.1982485
SAC
Keywords
Field
DocType
road identification problem,outside road,template-based autonomous navigation,proposed technique,image processing,autonomous navigation,autonomous vehicle drive,proposed system,image segmentation algorithm,finite state machines processing,electric autonomous vehicle,urban environment,image segmentation,template matching,finite state machine,mobile robot,finite state machines
Template matching,Computer vision,Computer science,Image processing,Finite-state machine,Artificial intelligence,Mobile robot navigation,Image segmentation algorithm,Parameter identification problem,Robotics,Steering control
Conference
Citations 
PageRank 
References 
3
0.46
2
Authors
5
Name
Order
Citations
PageRank
Jefferson R. Souza1467.19
Daniel O. Sales2313.00
Patrick Yuri Shinzato3594.98
Fernando S. Osório4485.92
Denis F. Wolf531130.16