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Illumination changes such as shadows significantly affect the accuracy of various road detection methods, especially for vision-based approaches with an on-board monocular camera. To efficiently consider such illumination changes, we propose a PCA based technique, PCA-II, that finds the minimum projection space from an input RGB image, and then use the space as the illumination-invariant space for...
We present a novel randomized path planner for rigid robots to efficiently handle various environments that have different characteristics. We first present a bridge line test that can identify narrow passage regions and then selectively performs an optimization-based retraction only at those regions. We also propose a noncolliding line test, which is a dual operator to the bridge line test, as a...
We present a novel retraction-based planner, selective retraction-based RRT, for efficiently handling a wide variety of environments that have different characteristics. We first present a bridge line-test that can identify regions around narrow passages, and then perform an optimization-based retraction operation selectively only at those regions. We also propose a non-colliding line-test, a dual...
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