標題: | Vision-based autonomous vehicle guidance in indoor environments using odometer and house corner location information |
作者: | Chiang, Kai-Li Tsai, Wen-Hsiang 資訊工程學系 Department of Computer Science |
關鍵字: | vehicle;patrolling;security surveillance;location;danger condition;painting |
公開日期: | 2006 |
摘要: | 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. |
URI: | http://hdl.handle.net/11536/17363 |
ISBN: | 978-0-7695-2745-1 |
期刊: | IIH-MSP: 2006 International Conference on Intelligent Information Hiding and Multimedia Signal Processing, Proceedings |
起始頁: | 415 |
結束頁: | 418 |
顯示於類別: | 會議論文 |