In this paper, we present a software platform (SoViN) dedicated to visual memory management and vision-based navigation of autonomous vehicles. This s oftware allows to achieve navigation tasks in large scale environments using natural landmarks.It has especially been designed to pro- totype visual memory-based strategies. Such approaches ha ve the major advantage that only key views and related image descriptors are stored. This processis thus expected to be efficient by means of 1) memory needed to store data and 2) computational c ost. These points are crucial issues for real-time navigation in large scale environment . We will see that SoViN allows to meet these expectations.
分享
引用
