Applications of moving windows technique to autonomous vehicle navigation
Image and Vision Computing
Speed supervisor for intelligent vehicles
EUROCAST'07 Proceedings of the 11th international conference on Computer aided systems theory
Vision-IMU integration using a slow-frame-rate monocular vision system in an actual roadway setting
IEEE Transactions on Intelligent Transportation Systems
Applying grey-fuzzy-fuzzy rule to machine vision based unmanned automatic vehicles
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part I
Motion planning of autonomous vehicles in a non-autonomous vehicle environment without speed lanes
Engineering Applications of Artificial Intelligence
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This work presents an intelligent transportation system (ITS) that was implemented on an autonomous vehicle designed to perform global navigation missions on a network of unmarked roads. This is the first step toward the complete implementation of ITS in urban environments, which is the long-term goal of this work. Using a global positioning system, global navigation is achieved by means of a global planner and a task manager that recurrently coordinate the execution of vision-based perception tasks for the road tracking of nonstructured roads and the navigation of intersections. In addition, a vision-based vehicle-detection task has been developed, which endows the global navigation system with a reactive capacity. The complete system has been tested on the BABIECA prototype vehicle, which was autonomously driven for hundreds of kilometers around a private circuit, designed to emulate an urban quarter, at speeds of up to 50 km/h, successfully carrying out different navigation missions. During the tests, the vehicle drove itself across crossroads and performed the appropriate turning maneuvers at intersections. It also demonstrated its robustness with regard to shadows, road texture, weather conditions, and changing illumination.