Monocular navigation for long-term autonomy

Krajnik, Tomas, Pedre, Sol and Preucil, Libor (2013) Monocular navigation for long-term autonomy. In: 16th International Conference on Advanced Robotics (ICAR), 2013, 25-29 Nov 2013, Montevideo.

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Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive


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.

Keywords:mobile robotics, computer vision, SLAM
Subjects:H Engineering > H670 Robotics and Cybernetics
G Mathematical and Computer Sciences > G740 Computer Vision
Divisions:College of Science > School of Computer Science
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ID Code:12669
Deposited On:11 Dec 2013 14:37

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