Template-based autonomous navigation in urban environments

摘要

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.