Free Space in Front of an Autonomous Guided Vehicle in Inner-City Conditions

摘要

This paper address the perception of the driving environment of an Autonomous Guided Vehicle from a vision system. The trajectory planning for an Autonomous Guided Vehicle requires to robustly segment the free space around the vehicle to manage an obstacle avoidance task. The urban environment still remains as the most complex environment due to the variety of dynamic elements which animate the scenes. The feature-based approach we detail in this article consists first on the segmentation of the ground surface to reconstruct finally a 2D polar map of the obstacles edges.