Abstract
In contrast to commercial automated driving, where systems are usually able to use infrastructure such as high-definition maps and GNSS as well as active sensors such as Lidar or Radar, in unstructured offroad environments for military or disaster response application such means are not available. In order to address a logistics tasks in such a setting we propose a vehicle guidance approach that is based on IMU pose tracking and visual image retrieval in an image database build up from a training trajectory. The approach has been implemented as a prototype and evaluated with IMU and image data recorded in several recording campaigns in military offroad areas.
The authors are in alphabetical order.
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Acknowledgement
This paper is a result of the PALONA project which is funded by the FORTE programme. It is a research, technology and innovation programme of the Austrian Ministry for Agriculture, Regions and Tourism. The Austrian Research Promotion Agency (FFG) is authorized for the programme management. We like also to acknowledge the support of the Austrian Ministry of Defense and the Austrian Armed Forces in conducting the research and the experiments.
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Bailer, W. et al. (2022). Passive Guidance for Offroad-Vehicles. In: Müller, A., Brandstötter, M. (eds) Advances in Service and Industrial Robotics. RAAD 2022. Mechanisms and Machine Science, vol 120. Springer, Cham. https://doi.org/10.1007/978-3-031-04870-8_54
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