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Conference papers

Fusion of active detections for outdoor vehicle guidance

Abstract : One of the major current developments in outdoor robotic aims at providing vehicles with automatic guidance capabilities. Such systems need a localisation module to work. However, indoor localisation methods are not directly usable in outdoor due to noise and the dynamic aspect of these environments. In this paper, we propose an original active localisation system relying on sensors fusion able to supply an accurate position with a high confidence level. The main contributions of this work are: 1) The introduction of perceptive triplet notion that associates landmarks, sensors and detectors to supervise the detections. 2) The use of a supervisor that determines at each time which landmark, with which sensor and detector, should be used to detect this landmark in order to improve the localisation. The supervisor constitutes the intelligent part of this localisation system. It decides when it's necessary to detect a landmark. 3) The integration of a confidence level over the vehicle's pose estimation that permits to take wrong matching hypothesis into account. Our system was tested in an outdoor environment, where it succeeded in accurately localising the vehicle.
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https://hal.inrae.fr/hal-02588748
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Submitted on : Friday, May 15, 2020 - 12:57:20 PM
Last modification on : Wednesday, September 28, 2022 - 3:09:10 PM

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  • HAL Id : hal-02588748, version 1
  • IRSTEA : PUB00021048

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C. Tessier, C. Debain, Romain Chapuis, F. Chausse. Fusion of active detections for outdoor vehicle guidance. The 9th International Conference on Information Fusion, Florence, ITA, 10-13 July 2006, 2006, pp.8. ⟨hal-02588748⟩

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