Predictive Driving in an Unstructured Scenario Using the Bundle Adjustment Algorithm

In this article, the autonomous driving problem in an unstructured scene is addressed using a model predictive control (MPC) scheme. The lack of scene structure makes the sensing problem challenging, in particular when considered within a control loop. To circumvent this difficulty, the bundle adjustment (BA) algorithm from computer vision is used to detect obstacles and compute a sparse representation of the environment. In one of the main...