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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)
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)
— 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(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)
— 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.(More)
This manuscript evaluates through physical experiments a navigation architecture for off-road mobile robots. It has been implemented taking into account low-cost components and computational requirements while still being able to robustly address the required tasks. The visual odometry approach uses two consumer-grade cameras for estimating robot(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.(More)
The recent development of a new kind of public transportation system relies on a particular double-steering kinematic structure enhancing manoeuvrability in cluttered environments such as downtown areas. We call bi-steerable car a vehicle showing this kind of kinemat-ics. Endowed with autonomy capacities, the bi-steerable car ought to combine suitably and(More)
In this paper, we propose a real-time method to detect obstacles using theoretical models of the ground plane, first in a 3D point cloud given by a stereo camera, and then in an optical flow field given by one of the stereo pair's camera. The idea of our method is to combine two partial occupancy grids from both sensor modalities with an occupancy grid(More)