Abstract-We present in this article a simple method to estimate an IPM view from an embedded camera. The method is based on the tracking of the road markers assuming that the road is locally planar. Our aim is the development of a freespace estimator which can be implemented in an Autonomous Guided Vehicle to allow a safe path planning. Opposite to most of the obstacle detection methods which make assumptions on the shape or height of the obstacles, all the scene elements above the road plane (particularly kerbs and poles) have to be detected as obstacles. Combined with the IPM tranformation, this obstacle detection stage can be viewed as the first stage of a free-space estimator dedicated to AGV in the complex urban environments.
Abstract-We present in this article an original method to reconstruct the road in the specific context of urban environment thanks to the data provided by an uncalibrated stereo-vision system. The method consists on extracting then tracking features (points, lines) from the road and estimate the homography induced by the plane between two poses. The purposed method copes with the dense traffic conditions: the free space required (first ten meters in front of the vehicle) is slightly equivalent to the security distance between two vehicles. Experimental issues from real data are presented and discussed.
Abstract-This paper describes an original method to compute the relative motion of an uncalibrated stereo rig in urban environments from features lying on the road. The extraction of significant reliable features on the road remains the critical step of this method. We nevertheless detect them according to the stereo constraints and a priori knowledge on the scene. The motion between two frames of the stereo rig is considered as rigid: the homography computation is enforced by the redundancy of the feature locations in multiple views. The method has been tested on video sequences recorded from a test vehicle that was driven an urban environments. Promising results from these experiments will be presented.
International audienceThe development of the Autonomous Guided Vehicles (AGVs) with urban applications are now possible due to the recent solutions (DARPA Grand Challenge) developed to solve the Simultaneous Localization And Mapping (SLAM) problem: perception, path planning and control. For the last decade, the introduction of GPS systems and vision have been allowed the transposition of SLAM methods dedicated to indoor environments to outdoor ones. When the GPS data are unavailable, the current position of the mobile robot can be estimated by the fusion of data from odometer and/or Inertial Navigation System (INS). We detail in this article what can be done with an uncalibrated stereo-rig, when it is embedded in a vehicle which is going through urban roads. The methodology is based on features extracted on planes: we mainly assume the road at the foreground as the plane common to all the urban scenes but other planes like vertical frontages of buildings can be used if the features extracted on the road are not enough relevant. The relative motions of the coplanar features tracked with both cameras allow us to stimate the vehicle ego-motion with a high precision. Futhermore, the features which don't check the relative motion of the considered plane can be assumed as obstacles
Abstract-We present in this article an original manner to estimate the trajectory of a vehicle running in urban-like areas. The method consists in extracting then tracking features (points, lines) with an uncalibrated stereo-rig from the road assumed as a plane to compute homographies relative to the camera(s) motions. The purposed method copes with the dense traffic conditions: the free space required (first ten meters in front of the vehicle) is slightly equivalent to the security distance between two vehicles. Experimental issues from real data are presented and discussed.
RESUME : Le département GEII de l'iut de Sarcelles propose à ses étudiants un projet universitaire durant leur première année de formation, qui débouche sur une compétition amicale de robotique. Dans ce cadre, les auteurs ont développé un simulateur simple de stratégie de robot afin d'aider à la compréhension des mécanismes de prise de décision. Ce simulateur, basé sur le logiciel de calcul scientifique SciLab, est disponible en téléchargement sur le site : http://www.tauvel.net rubrique téléchargement. L'expérience pédagogique menée est proche de celle de l'iut de Cachan, mais s'en différencie en ce que le projet n'est pas le support unique de l'enseignement scientifique et technologique. Mots clés : Robotique, Simulateur, DUT GEII, expérience d'apprentissage par projet.
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