Experimental Evaluation of Autonomous Driving Based on Visual Memory and Image-Based Visual Servoing

@article{Diosi2011ExperimentalEO,
  title={Experimental Evaluation of Autonomous Driving Based on Visual Memory and Image-Based Visual Servoing},
  author={Albert Diosi and Sinisa Segvic and Anthony Remazeilles and François Chaumette},
  journal={IEEE Transactions on Intelligent Transportation Systems},
  year={2011},
  volume={12},
  pages={870-883}
}
In this paper, the performance of a topological-metric visual-path-following framework is investigated in different environments. The framework relies on a monocular camera as the only sensing modality. The path is represented as a series of reference images such that each neighboring pair contains a number of common landmarks. Local 3-D geometries are reconstructed between the neighboring reference images to achieve fast feature prediction. This condition allows recovery from tracking failures… CONTINUE READING
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