About: Monocular Navigation for Long-Term Autonomy

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An Entity of Type : http://linked.opendata.cz/ontology/domain/vavai/Vysledek, within Data Space : linked.opendata.cz associated with source document(s)

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
rdfs:seeAlso	http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6766591&isnumber=6766447&tag=1
Description	We present a reliable and robust monocular navigation system for an autonomous vehicle.The proposed method is computationally efficient, needs off-the-shelf equipment only and does not require any additional infrastructure like radio beacons or GPS. Contrary to traditional localization algorithms, which use advanced mathematical methods to determine vehicle position, our method uses a more practical approach. In our case, an image-feature-based monocular vision technique determines only the heading of the vehicle while the vehicle's odometry is used to estimate the distance traveled. We present a mathematical proof and experimental evidence indicating that the localization error of a robot guided by this principle is bound. The experiments demonstrate that the method can cope with variable illumination, lighting deficiency and both short- and long-term environment changes. This makes the method especially suitable for deployment in scenarios which require long-term autonomous operation. We present a reliable and robust monocular navigation system for an autonomous vehicle.The proposed method is computationally efficient, needs off-the-shelf equipment only and does not require any additional infrastructure like radio beacons or GPS. Contrary to traditional localization algorithms, which use advanced mathematical methods to determine vehicle position, our method uses a more practical approach. In our case, an image-feature-based monocular vision technique determines only the heading of the vehicle while the vehicle's odometry is used to estimate the distance traveled. We present a mathematical proof and experimental evidence indicating that the localization error of a robot guided by this principle is bound. The experiments demonstrate that the method can cope with variable illumination, lighting deficiency and both short- and long-term environment changes. This makes the method especially suitable for deployment in scenarios which require long-term autonomous operation. (en)
Title	Monocular Navigation for Long-Term Autonomy Monocular Navigation for Long-Term Autonomy (en)
skos:prefLabel	Monocular Navigation for Long-Term Autonomy Monocular Navigation for Long-Term Autonomy (en)
skos:notation	RIV/68407700:21230/13:00211789!RIV14-MSM-21230___
http://linked.open...avai/riv/aktivita	P
http://linked.open...avai/riv/aktivity	P(7AMB12AR022)
http://linked.open...vai/riv/dodaniDat	2014
http://linked.open...aciTvurceVysledku	Přeučil, Libor
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	České vysoké učení technické v Praze / Fakulta elektrotechnická
http://linked.open...dnocenehoVysledku	89484
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/13:00211789
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Mobile Robotics; Computer Vision (en)
http://linked.open.../riv/klicoveSlovo	Mobile Robotics Computer Vision
http://linked.open...ontrolniKodProRIV	[846E4C9651CC]
http://linked.open...v/mistoKonaniAkce	Montevideo
http://linked.open...i/riv/mistoVydani	Piscataway
http://linked.open...i/riv/nazevZdroje	Proceedings of the International Conference on Advanced Robotics 2013
http://linked.open...in/vavai/riv/obor	JD
http://linked.open...ichTvurcuVysledku	1 (xsd:int)
http://linked.open...cetTvurcuVysledku	3 (xsd:int)
http://linked.open...vavai/riv/projekt	Cognitive Autonomous Robots II
http://linked.open...UplatneniVysledku	2013
http://linked.open...iv/tvurceVysledku	Přeučil, Libor Krajník, T. Pedra, S.
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open.../riv/zahajeniAkce	2013-11-25 (xsd:date)
number of pages	6 (xsd:int)
http://bibframe.org/vocab/doi	10.1109/ICAR.2013.6766591
http://purl.org/ne...btex#hasPublisher	IEEE
https://schema.org/isbn	978-1-4799-2722-7
http://localhost/t...ganizacniJednotka	21230

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