Fusing LIDAR and Vision for Autonomous Dirt Road Following - Incorporating a Visual Feature into the Tentacles Approach

@inproceedings{Manz2009FusingLA,
  title={Fusing LIDAR and Vision for Autonomous Dirt Road Following - Incorporating a Visual Feature into the Tentacles Approach},
  author={M. Manz and M. Himmelsbach and T. Luettel and Hans-Joachim W{\"u}nsche},
  booktitle={AMS},
  year={2009}
}
  • M. Manz, M. Himmelsbach, +1 author Hans-Joachim Wünsche
  • Published in AMS 2009
  • Computer Science
  • In this paper we describe how visual features can be incorporated into the well known tentacles approach [1] which up to now has only used LIDAR and GPS data and was therefore limited to scenarios with significant obstacles or non-flat surfaces along roads. In addition we present a visual feature considering only color intensity which can be used to visually rate tentacles. The presented sensor fusion and color based feature were both applied with great success at the C-ELROB 2009 robotic… CONTINUE READING
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