A new information theoretic approach for appearance-based navigation of non-holonomic vehicle
In this paper we propose a new way to achieve a navigation task for a non-holonomic vehicle. We consider an image-based navigation process. We show that it is possible to navigate along a visual path without relying on the extraction, matching and tracking of geometric visual features such as keypoint. The new proposed approach relies directly on the information (entropy) contained in the image signal. We show that it is possible to build a control law directly from the maximisation of the shared information between the current image and the next key image in the visual path. The shared information between those two images are obtained using mutual information that is known to be robust to illumination variations and occlusions. Moreover the generally complex task of features extraction and matching is avoided. Both simulations and experiments on a real vehicle are presented and show the possibilities and advantages offered by the proposed method.
Amaury Dame Eric Marchand
CNRS,IRISA,INRIA Rennes Bretagne-Atlantique,Lagadic research group,France Universit(e) de Rennes 1,IRISA UMR 6074,INRIA Rennes-Bretagne Atlantique,Lagadic research group,Fra
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
2459-2464
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）