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Avoiding Moving Obstacles during Visual Navigation

Andrea Cherubini 1 Boris Grechanichenko 1 Fabien Spindler 2 François Chaumette 2
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : Moving obstacle avoidance is a fundamental requirement for any robot operating in real environments, where pedestrians, bicycles and cars are present. In this work, we design and validate a new approach that takes explicitly into account obstacle velocities, to achieve safe visual navigation in outdoor scenarios. A wheeled vehicle, equipped with an actuated pinhole camera and with a lidar, must follow a path represented by key images, without colliding with the obstacles. To estimate the obstacle velocities, we design a Kalman-based observer. Then, we adapt the tentacles designed in [1], to take into account the predicted obstacle positions. Finally, we validate our approach in a series of simulated and real experiments, showing that when the obstacle velocities are considered, the robot behaviour is safer, smoother, and faster than when it is not.
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Submitted on : Friday, April 5, 2013 - 11:19:30 AM
Last modification on : Tuesday, June 15, 2021 - 4:13:31 PM
Long-term archiving on: : Monday, April 3, 2017 - 12:24:26 AM


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  • HAL Id : lirmm-00808317, version 1


Andrea Cherubini, Boris Grechanichenko, Fabien Spindler, François Chaumette. Avoiding Moving Obstacles during Visual Navigation. ICRA: International Conference on Robotics and Automation, May 2013, Karlsruhe, Germany. pp.3054-3059. ⟨lirmm-00808317⟩



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