Passive Guidance for Offroad-Vehicles

Werner Bailer*, Hermann Fürntratt, Manfred Klopschitz, Dominik Lampel, Roman Lesjak, Matthias Rüther, Susanne Schweitzer, Gerald Steinbauer-Wagner

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference paperpeer-review

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.

Original languageEnglish
Title of host publicationAdvances in Service and Industrial Robotics - RAAD 2022
EditorsAndreas Müller, Mathias Brandstötter
PublisherSpringer Science and Business Media B.V.
Pages460-468
Number of pages9
ISBN (Print)9783031048692
DOIs
Publication statusPublished - 2022
Event31st International Conference on Robotics in Alpe-Adria-Danube Region: RAAD 2022 - Klagenfurt, Austria
Duration: 8 Jun 202210 Jun 2022

Publication series

NameMechanisms and Machine Science
Volume120 MMS
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Conference

Conference31st International Conference on Robotics in Alpe-Adria-Danube Region
Abbreviated titleRAAD 2022
Country/TerritoryAustria
CityKlagenfurt
Period8/06/2210/06/22

Keywords

  • GNSS-denied environment
  • Offroad environment
  • Passive sensors
  • Robot navigation

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

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