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Design and Evaluation of a System for Vision-Based Vehicle Convoying |
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@TechReport{Carceroni:TR98,
author = {Rodrigo L. Carceroni, Craig Harman, Christopher K. Eveland and Christopher M. Brown},
title = {Design and Evaluation of a System for Vision-Based Vehicle Convoying},
institution = {Computer Science Dept. University of Rochester},
year = {1998},
number = {678},
address = {Rochester NY},
month = {January},
abstract = {
In this paper, we discuss how to process visual information in convoying applications, using only
low-cost, off-the-shelf hardware. We introduce a numerical algorithm for real-time perspective pose
estimation that uses strong task-specific constraints to achieve efficiency and stability. Through
extensive experiments performed with synthetic data, we show that this approach yields more accurate
recovery than a general-purpose structure-and-motion recovery framework known as the Variable State
Dimension Filter, even when some of its fundamental task-specific assumptions are only partially valid.
In addition, we discuss efficient ways to perform low-level vision with off-the-shelf hardware, and we
present a two-level control strategy that uses high-frequency odometry data to stabilize visual control.
Real-world convoying experiments show that our tracking-and-control system performs quite well in the
sense that it manages to keep targets in view, tolerates changes in lighting conditions, and enables
vehicles to keep up with complex maneuvers performed by other members of the convoy, such as 180-degree
turns. }
}