Natural Landmark-Based Autonomous Navigation using Curvature Scale Space

نویسندگان

  • Raj Madhavan
  • Hugh F. Durrant-Whyte
  • Gamini Dissanayake
چکیده

This paper describes a terrain-aided navigation system that employs points of maximum curvature extracted from laser scan data as primary landmarks. A scale space method is used to extract points of maximum curvature from laser range scans of unmodified outdoor environments. This information is then fused with odometric information to provide localization information for an outdoor vehicle. The method described is invariant to the size and orientation of the range images under consideration (with respect to rotation and translation), is robust to noise, and can reliably detect and localize naturally occurring landmarks in the operating environment. The algorithm is demonstrated in the application of a road vehicle in an unmodified operating domain. Keywords— landmark extraction, extended Kalman filter, scale space, outdoor localization.

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Natural landmark-based autonomous vehicle navigation

This article describes a natural landmark navigation algorithm for autonomous vehicles operating in relatively unstructured environments. The algorithm employs points of maximum curvature, extracted from laser scan data, as point landmarks in an extended Kalman filter. A curvature scale space algorithm is developed to locate points of maximum curvature. The location of these points is invariant...

متن کامل

Outdoor Navigation of a Mobile Robot Using Natural Landmarks

In this paper, we report how to navigate a mobile robot using natural landmarks such as trees and hedges on outdoor campus of university. At rst, we propose an automatic natural landmark acquisition by Landmark Agent (LmA). Next, we propose an autonomous navigation using the acquired natural landmarks. Furthermore, we will discuss the di culties of outdoor navigation using natural landmarks thr...

متن کامل

Visual Landmark Selection and Recognition for Autonomous Unmanned Aerial Vehicle Navigation An image analysis framework based on local scale-invariant features

Reliable localisation is an essential component of a successful autonomous vehicle system. Using GPS makes the vehicle dependent on an external system. Possible technical and political problems make it impossible to guarantee continuous accessability to this system. Simultaneous Localisation and Map Building (SLAM) is the process of concurrently building a feature based map of the environment a...

متن کامل

Sovin: a Software Platform for Visual Navigation

In this paper, we present a software platform (SoViN) dedicated to visual memory management and vision-based navigation of autonomous vehicles. This software allows to achieve navigation tasks in large scale environments using natural landmarks. It has especially been designed to prototype visual memory-based strategies. Such approaches have the major advantage that only key views and related i...

متن کامل

Navigation Techniques of Mobile Robots In Greenhouses

With the continuous development of the industrialization process, the countries all over the world gradually appeared lack of agricultural labor force and aging phenomenon, which was especially prominent in developed countries. However the agricultural robot with high operating efficiency, high qualities of work will play an increasingly important role in future agricultural production. Robot n...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2002