Learning metric-topological maps for indoor mobile robot navigation
Artificial Intelligence
Appearance-Based Obstacle Detection with Monocular Color Vision
Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence
Mars microrover navigation: performance evaluation and enhancement
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 1 - Volume 1
Vision-based neural network road and intersection detection and traversal
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3
Stereo-Based Tree Traversability Analysis for Autonomous Off-Road Navigation
WACV-MOTION '05 Proceedings of the Seventh IEEE Workshops on Application of Computer Vision (WACV/MOTION'05) - Volume 1 - Volume 01
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Vision-based navigation and obstacle detection must be sophisticated in order to perform well in complicated and diverse terrain, but that complexity comes at the expense of increased system latency between image capture and actuator signals. Increased latency, or a longer control loop, degrades the reactivity of the robot. We present a navigational framework that uses a self-supervised, learning-based obstacle detector without paying a price in latency and reactivity. A long-range obstacle detector uses online learning to accurately see paths and obstacles at ranges up to 30 meters, while a fast, short-range obstacle detector avoids obstacles at up to 5 meters. The learning-based long-range module is discussed in detail, and field experiments are described which demonstrate the success of the overall system.