Browsing by Author "Chiang, Kai-Li"

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Vision-based autonomous vehicle guidance in indoor environments using odometer and house corner location information
(2006)
Chiang, Kai-Li
;
Tsai, Wen-Hsiang
;
資訊工程學系
;
Department of Computer Science
An approach to vehicle guidance using odometer and house corner location information is proposed for vision-based vehicle navigation in indoor environments. A small vehicle with wireless control and image grabbing capabilities is used as a test bed. A camera with the pantilt-zoom capability is equipped on the vehicle. The vehicle is guided to follow a path consisting of nodes learned in advance, which include the information of travel distances and turning angles provided by the odometer. A vehicle location method using house corners is proposed to estimate vehicle location which can be used to correct vehicle location, thus preventing mechanic error accumulation in long-distance navigation. Good experimental results show the feasibility of the proposed approach.