Performance Improvements for Autonomous Cross-Country Navigation Using Stereo Vision
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Autonomous Cross-Country Navigation Using Stereo Vision
This paper reports on an autonomous robot designed for operation in uncharted outdoor environments. To accomplish this we have developed a robot vehicle equipped with wide field-of-view stereo vision and high accuracy inertial navigation. The software resident onboard the vehicle uses binoculor cameras, mounted in a novel configuration, to produce dense range maps of the environment. This data ...
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Autonomous robot navigation in unstructured outdoor environments is a challenging area of active research. At the core of this navigation task lies the concept of identifying safe, traversable paths which allow the robot to progress toward a goal. Stereo vision is frequently exploited for autonomous navigation, but has limitations in terms of its density and accuracy in the far field. This pape...
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