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Template-based autonomous navigation in urban environments

Authors:

Denis F. WolfAuthors Info & Claims

SAC '11: Proceedings of the 2011 ACM Symposium on Applied Computing

Pages 1376 - 1381

https://doi.org/10.1145/1982185.1982485

Published: 21 March 2011 Publication History

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Abstract

Autonomous navigation is a fundamental task in mobile robotics. In the last years, several approaches have been addressing the autonomous navigation in outdoor environments. Lately it has also been extended to robotic vehicles in urban environments. This paper focus in the road identification problem, which is an important capability to autonomous vehicle drive. Our approach is based on image processing, template matching classification, and finite state machines processing. The proposed system allows to train an image segmentation algorithm in order to identify navigable and non-navigable regions (inside/outside roads), generating as output the steering control for an Electric Autonomous Vehicle, that should stay following the road. Several experimental tests have been carried out under different environmental conditions to evaluate the proposed techniques.

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Cited By

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Marwah KSohal J(2020)A Unified Convolutional Neural Network Framework for Intelligent Decision Making Related to Navigation2020 Fourth International Conference on Computing Methodologies and Communication (ICCMC)10.1109/ICCMC48092.2020.ICCMC-00063(335-339)Online publication date: Mar-2020
https://doi.org/10.1109/ICCMC48092.2020.ICCMC-00063
Pessin GSouza JOsório FFaiçal BFilho GUeyama JVargas PWolf D(2014)Investigation on the evolution of a robotic controller for autonomous vehicle navigationJournal of Intelligent & Fuzzy Systems: Applications in Engineering and Technology10.5555/2699159.269918827:6(3047-3058)Online publication date: 1-Nov-2014
https://dl.acm.org/doi/10.5555/2699159.2699188
Souza JPessin GEboli GMendes COsório FWolf DOssowski SLecca P(2012)Vision and GPS-based autonomous vehicle navigation using templates and artificial neural networksProceedings of the 27th Annual ACM Symposium on Applied Computing10.1145/2245276.2245332(280-285)Online publication date: 26-Mar-2012
https://dl.acm.org/doi/10.1145/2245276.2245332
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Information

Published In

SAC '11: Proceedings of the 2011 ACM Symposium on Applied Computing

March 2011

1868 pages

ISBN:9781450301138

DOI:10.1145/1982185

Conference Chairs:
William Chu
Tunghai University, TaiChung, Taiwan
,
W. Eric Wong
University of Texas at Dallas, Richardson, Texas
,
Program Chairs:
Mathew J. Palakal
Indiana University Purdue University, Indianapolis
,
Chih-Cheng Hung
Southern Polytechnic State University, Marietta

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 21 March 2011

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Fundação de Amparo à Pesquisa do Estado de São Paulo

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SAC'11

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SIGAPP

SAC'11: The 2011 ACM Symposium on Applied Computing

March 21 - 24, 2011

TaiChung, Taiwan

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Overall Acceptance Rate 1,650 of 6,669 submissions, 25%

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Cited By

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Marwah KSohal J(2020)A Unified Convolutional Neural Network Framework for Intelligent Decision Making Related to Navigation2020 Fourth International Conference on Computing Methodologies and Communication (ICCMC)10.1109/ICCMC48092.2020.ICCMC-00063(335-339)Online publication date: Mar-2020
https://doi.org/10.1109/ICCMC48092.2020.ICCMC-00063
Pessin GSouza JOsório FFaiçal BFilho GUeyama JVargas PWolf D(2014)Investigation on the evolution of a robotic controller for autonomous vehicle navigationJournal of Intelligent & Fuzzy Systems: Applications in Engineering and Technology10.5555/2699159.269918827:6(3047-3058)Online publication date: 1-Nov-2014
https://dl.acm.org/doi/10.5555/2699159.2699188
Souza JPessin GEboli GMendes COsório FWolf DOssowski SLecca P(2012)Vision and GPS-based autonomous vehicle navigation using templates and artificial neural networksProceedings of the 27th Annual ACM Symposium on Applied Computing10.1145/2245276.2245332(280-285)Online publication date: 26-Mar-2012
https://dl.acm.org/doi/10.1145/2245276.2245332
Sales DOsorio F(2012)Vision-Based Autonomous Topological Navigation in Outdoor EnvironmentsProceedings of the 2012 Brazilian Robotics Symposium and Latin American Robotics Symposium10.1109/SBR-LARS.2012.22(91-96)Online publication date: 16-Oct-2012
https://dl.acm.org/doi/10.1109/SBR-LARS.2012.22
Fernandes LSouza JShinzato PPessin GMendes COsorio FWolf D(2012)Intelligent Robotic Car for Autonomous NavigationProceedings of the 2012 Second Brazilian Conference on Critical Embedded Systems10.1109/CBSEC.2012.26(12-17)Online publication date: 20-May-2012
https://dl.acm.org/doi/10.1109/CBSEC.2012.26
Souza JSales DShinzato POsorio FWolf D(2011)Template-based autonomous navigation and obstacle avoidance in urban environmentsACM SIGAPP Applied Computing Review10.1145/2107756.210776111:4(49-59)Online publication date: 1-Dec-2011
https://dl.acm.org/doi/10.1145/2107756.2107761
Souza JPessin GOsório FWolf D(2011)Vision-Based Autonomous Navigation Using Supervised Learning TechniquesEngineering Applications of Neural Networks10.1007/978-3-642-23957-1_2(11-20)Online publication date: 2011
https://doi.org/10.1007/978-3-642-23957-1_2

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Template-based autonomous navigation and obstacle avoidance in urban environments

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