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 competition.
CITATION STYLE
Manz, M., Himmelsbach, M., Luettel, T., & Wuensche, H. J. (2009). Fusing LIDAR and vision for autonomous dirt road following: Incorporating a visual feature into the tentacles approach. In Informatik aktuell (pp. 17–24). Kluwer Academic Publishers. https://doi.org/10.1007/978-3-642-10284-4_3
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