Lab Meeting March 16th (fish60): Path planning in image space for autonomous robot navigation in unstructured environments

Journal of Field Robotics
Volume 26, Issue 2 (February 2009)
Special Issue on LAGR Program, Part II
Pages 212-240

Abstract:
In this paper we present an image space technique for path planning in unknown unstructured outdoor environments. Our method differs from previous techniques in that we perform path search directly in image space - the native sensor space of the imaging sensor. Our image space planning techniques can potentially be used with many different kinds of sensor data, and we experimentally evaluate the use of stereo disparity and color information. We present an extension to the basic image space planning system called the cylindrical planner that simulates a 2 field of view with a cylindrically shaped occupancy grid. We believe that image space planning is well suited for use in the local subsystem of a hierarchical planner and implement a hybrid hierarchical planner that utilizes the cylindrical planner as a local planning subsystem and a two-dimensional Cartesian planner as the global planning subsystem.
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