Off-Road Navigation from Selective Stabilization.
Y.S. Yao, Rama Chellappa · 1995
This paper studies the problem of selective stabilization, defined here as the separation of rotation components due to smooth rotation and oscillatory rotation. In applications to off-road navigation, in addition to the desired smooth attitude change, a vehicle undergoes high frequency vibration. We consider both kinematic and kinetic models suitable for capturing these phenomena and achieving their separation. Our approach uses various dynamic laws to model the behavior of the vehicle, and relies on Extended Kaiman Filters for the estimation. Multiple visual cues are exploited to obtain the rotational parameters. A scheme for detecting the occurrence and disappearance of smooth rotation is devised. Appropriate dynamic laws are employed to achieve selective stabilization. Based on the selective stabilization, 3-D locations of close feature points are estimated in a stabilized frame of reference, thus providing more useful information. Synthetic experiments for different scenarios using the proposed approach show promising results.