%0 Journal Article 
%F Diosi11a
%A Diosi, A.
%A Segvic, S.
%A Remazeilles, A.
%A Chaumette, F.
%T Experimental Evaluation of Autonomous Driving Based on Visual Memory and Image Based Visual Servoing
%J IEEE Trans. on Intelligent Transportation Systems
%V 	 12
%N 3
%P 870-883
%X In this paper, the performance of a topological metric visual-path-following framework is investigated in different environments. The framework relies on a monocular camera as the only sensing modality. The path is represented as a series of refer- ence images such that each neighboring pair contains a number of common landmarks. Local 3-D geometries are reconstructed between the neighboring reference images to achieve fast feature prediction. This condition allows recovery from tracking failures. During navigation, the robot is controlled using image-based vi- sual servoing. The focus of this paper is on the results from a num- ber of experiments that were conducted in different environments, lighting conditions, and seasons. The experiments with a robot car show that the framework is robust to moving objects and moderate illumination changes. It is also shown that the system is capable of online path learning
%U http://www.irisa.fr/lagadic/pdf/2011_its_diosi.pdf
%U http://dx.doi.org/10.1109/TITS.2011.2122334
%8 September
%D 2011