Navigation of a Self-Driving Vehicle Using One Fiducial Marker
This addresses a specific challenge in autonomous vehicle localization with minimal infrastructure, but it is incremental as it builds on existing sensor fusion and control methods.
The paper tackles the problem of self-driving vehicle navigation using only one fiducial marker, which causes rotational ambiguity in camera pose estimation, and presents a framework with multiple cameras and wheel odometry, achieving effective navigation as demonstrated in experiments.
Navigation using only one marker, which contains four artificial features, is a challenging task since camera pose estimation using only four coplanar points suffers from the rotational ambiguity problem in a real-world application. This paper presents a framework of vision-based navigation for a self-driving vehicle equipped with multiple cameras and a wheel odometer. A multiple camera setup is presented for the camera cluster which has 360-degree vision such that our framework solely requires one planar marker. A Kalman-Filter-based fusion method is introduced for the multiple-camera and wheel odometry. Furthermore, an algorithm is proposed to resolve the rotational ambiguity problem using the prediction of the Kalman Filter as additional information. Finally, the lateral and longitudinal controllers are provided. Experiments are conducted to illustrate the effectiveness of the theory.