標題: Smooth vision-based autonomous land vehicle navigation in indoor environments by person following using sequential pattern recognition
作者: Ku, CH
Tsai, WH
資訊工程學系
Department of Computer Science
公開日期: 1-May-1999
摘要: A new approach to autonomous land vehicle (ALV) navigation by the person following is proposed. This approach is based on sequential pattern recognition and computer vision techniques, and maintenance of smoothness for indoor navigation is the main goal. The ALV is guided automatically to follow a person who walks in front of the vehicle. The vehicle can be used as an autonomous handcart, go-cart, buffet car, golf cart, weeder, etc. in various applications. Sequential pattern recognition is used to design a classifier for making decisions about whether the person in front of the vehicle is walking straight or is too right or too left of the vehicle. Multiple images in a sequence are used as input to the system. Computer vision techniques are used to detect and locate the person in front of the vehicle. By sequential pattern recognition, the relation between the location of the person and that of the vehicle is categorized into three classes. Corresponding adjustments of the direction of the vehicle are computed to achieve smooth navigation. The approach is implemented on a real ALV, and successful and smooth navigation sessions confirm the feasibility of the approach. (C) 1999 John Wiley & Sons, Inc.
URI: http://hdl.handle.net/11536/31380
http://dx.doi.org/10.1002/(SICI)1097-4563(199905)16:5<249
ISSN: 0741-2223
DOI: 10.1002/(SICI)1097-4563(199905)16:5<249
期刊: JOURNAL OF ROBOTIC SYSTEMS
Volume: 16
Issue: 5
起始頁: 249
結束頁: 262
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