ICRA 2011 Paper Abstract

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Paper TuP214.2

Dame, Amaury (CNRS, IRISA, INIRA Rennes), Marchand, Eric (Université de Rennes 1, IRISA, INRIA Rennes)

A New Information Theoretic Approach for Appearance-Based Visual Path Following

Scheduled for presentation during the Regular Sessions "Visual Navigation IV" (TuP214), Tuesday, May 10, 2011, 15:40−15:55, Room 5J

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Visual Servoing, Visual Navigation

Abstract

In this paper we propose a new way to achieve a navigation task (visual path following) for a non-holonomic vehicle. We consider an image-based navigation process. We show that it is possible to navigate along a visual path without relying on the extraction, matching and tracking of geometric visual features such as keypoint. The new proposed approach relies directly on the information (entropy) contained in the image signal. We show that it is possible to build a control law directly from the maximisation of the shared information between the current image and the next key image in the visual path. The shared information between those two images is obtained using mutual information that is known to be robust to illumination variations and occlusions. Moreover the generally complex task of features extraction and matching is avoided. Both simulations and experiments on a real vehicle are presented and show the possibilities and advantages offered by the proposed method.

 

 

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