Summary
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A Visual Positioning System for Vehicle or Mobile Robot Navigation Huei-Yung LIN Jen-Hung LIN Publication IEICE TRANSACTIONS on Information and Systems Vol.E89-D No.7 pp.2109-2116 Publication Date: 2006/07/01 Online ISSN: 1745-1361 DOI: 10.1093/ietisy/e89-d.7.2109 Print ISSN: 0916-8532 Type of Manuscript: Special Section PAPER (Special Section on Machine Vision Applications) Category: Robot Navigation Keyword: motion analysis, feature tracking, self-localization, Full Text: PDF(609.7KB)>>
Summary: Localization of a vehicle is a key component for driving assistance or autonomous navigation. In this work, we propose a visual positioning system (VPS) for vehicle or mobile robot navigation. Different from general landmark-based or model-based approaches, which rely on some predefined known landmarks or a priori information about the environment, no assumptions on the prior knowledge of the scene are made. A stereo-based vision system is built for both extracting feature correspondences and recovering 3-D information of the scene from image sequences. Relative positions of the camera motion are then estimated by registering the 3-D feature points from two consecutive image frames. Localization of the mobile platform is finally given by the reference to its initial position. | ||||||||||
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