Speed-range dilemmas for vision-based navigation in unstructured terrain

Pierre Sermanet, Raia Hadsell, Jan Ben, Ayse Naz Erkan, Beat Flepp, Urs Muller, Yann LeCun

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The performance of vision-based navigation systems for off-road mobile robots depends crucially on the resolution of the camera, the sophistication of the visual processing, the latency between image and sensor capture to actuator control, and the period of the control loop. One particularly important design question is whether one should increase the resolution of the camera images, and the range of the obstacle detection algorithms, at the expense of latency and control loop period. We first report experimental results on the resolution-period trade-off with a stereo vision-based navigation system implemented on the LAGR mobile robot platform. We propose a multi-agent perception and control architecture that combines a sophisticated long-range path detection method operating at high resolution and low frame rate, with a simple stereo-based obstacle detection method operating at low resolution, high frame rate, and low latency. The system combines the advantages of the long-range module for strategic path planning, with the advantages of the short-range module for tactical driving.

Original languageEnglish (US)
Title of host publication6th IFAC Symposium on Intelligent Autonomous Vehicles, IAV 200707 - Proceedings
PublisherIFAC Secretariat
Pages300-305
Number of pages6
EditionPART 1
ISBN (Print)9783902661654
DOIs
StatePublished - 2007

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
Volume6
ISSN (Print)1474-6670

Keywords

  • Autonomous navigation
  • Control architecture
  • LAGR
  • Robotics
  • Vision

ASJC Scopus subject areas

  • Control and Systems Engineering

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