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Proceedings Paper

A vision-based robotic follower vehicle
Author(s): Jared L. Giesbrecht; Hien K. Goi; Timothy D. Barfoot; Bruce A. Francis
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Paper Abstract

This paper presents the development of a vision-based robotic follower system with the eventual goal of autonomous convoying. The follower vehicle, trained at run-time, tracks an arbitrary lead vehicle and estimates the leader's position from the sequence of video images. Pan, tilt and zoom keep the leader in the follower's field of view as it drives the leader's path. The system was demonstrated following vehicles in an on-road scenario, as well as dismounted human leaders off-road.

Paper Details

Date Published: 30 April 2009
PDF: 12 pages
Proc. SPIE 7332, Unmanned Systems Technology XI, 73321O (30 April 2009); doi: 10.1117/12.823843
Show Author Affiliations
Jared L. Giesbrecht, Defence Research and Development Canada (Canada)
Hien K. Goi, Univ. of Toronto (Canada)
Timothy D. Barfoot, Univ. of Toronto Institute for Aerospace Studies (Canada)
Bruce A. Francis, Univ. of Toronto (Canada)


Published in SPIE Proceedings Vol. 7332:
Unmanned Systems Technology XI
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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