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Reliable and efficient perception and reasoning in dynamic and densely cluttered environments are still major challenges for driver assistance systems. Most of today's systems use target tracking algorithms based on object models. They work quite well in simple environments such as freeways, where few potential obstacles have to be considered. However,(More)
Tractor-trailer reversing is a classical non-linear control problem in which many of the solutions proposed in the literature perform poorly in the presence of real-world constraints such as steering angle, rate limits and lags. In this paper we describe a new method in which an inner loop controls the hitch-angle of the trailer creating a virtual(More)
SUMMARY In this paper, we present the work related to the application of a visual odometry approach to estimate the location of mobile robots operating in off-road conditions. The visual odometry approach is based on template matching, which deals with estimating the robot displacement through a matching process between two consecutive images. Standard(More)
Trailer reversing is a problem frequently considered in the literature, usually with fairly complex non-linear control theory based approaches. In this paper, we present a simple method for stabilizing a tractor-trailer system to a trajectory based on the notion of controlling the hitch-angle of the trailer rather than the steering angle of the tractor. The(More)
In this paper, we propose a real-time method to detect obstacles using theoretical models of optical flow fields. The idea of our approach is to segment the image in two layers: the pixels which match our optical flow model and those that do not (i.e. the obstacles). In this paper, we focus our approach on a model of the motion of the ground plane. Regions(More)
Mobile robots rely on their ability of scene recognition to build a topological map of the environment and perform location-related tasks. In this paper, we describe a novel lightweight scene recognition method using an adaptive descriptor which is based on color features and geometric information for omnidirectional vision. Our method enables the robot to(More)
— One of the common ways of localization in robotics is the triangula-tion using a system composed of a sensor and some landmarks (which can be artificial or natural). This paper presents a framework, namely the Localization Space, in order to deal with problems such as the landmark placement and motion planning including the localization constraint. Based(More)
This paper reports work on the automation of a hot metal carrier, which is a 20 tonne forklift-type vehicle used to move molten metal in aluminium smelters. To achieve efficient vehicle operation, issues of autonomous navigation and materials handling must be addressed. We present our complete system and experiments demonstrating reliable operation. One of(More)
This paper presents a method for computing the visual odometry of ground vehicles. By mounting a downward-looking camera on the vehicle, it can recover the motion of the vehicle only by using the video input. Different from other feature based algorithms, the key technique deployed in this system is an appearance-based approach — template matching. A(More)
gramme " La Route Automatisée " (http://www.lara.prd.fr/) and the Euro-pean project IST-1999-12224 " Sensing of Car Environment at Low Speed Driving " Abstract— A prerequisite to the design of future Advanced Driver Assistance Systems for cars is a sensing system providing all the information required for high-level driving assistance tasks. In particular,(More)