題名: | SIMPLE AUTOMATIC PATH LEARNING FOR AUTONOMOUS VEHICLE NAVIGATION BY ULTRASONIC SENSING AND COMPUTER VISION TECHNIQUES |
作者: | Tsai, Shung-Yung Tsai, Wen-Hsiang |
期刊名/會議名稱: | 2008 ICS會議 |
摘要: | A simple automatic path learning method for an intelligent autonomous vision-based vehicle system by person following and along-path object image matching is proposed. The vehicle can follow a person through a path in an indoor environment and navigates back to the start point by itself by the data learned during the following process. A technique of matching flat-surfaced object images using SIFT features is adopted for the vehicle to localize itself according to its learned path during the navigation process. In addition, a technique for dynamically refining the traversed path points which are learned during person following is proposed. Finally, a technique of odometer calibration, which uses a calibration model to reduce incremental mechanical errors the vehicle suffers, is proposed to increase path traversing accuracy. Good experimental results show the feasibility of the proposed techniques. |
日期: | 2009-02-12T03:28:10Z |
分類: | 2008年 ICS 國際計算機會議 |
文件中的檔案:
檔案 | 描述 | 大小 | 格式 | |
---|---|---|---|---|
ce07ics002008000129.pdf | 225.64 kB | Adobe PDF | 檢視/開啟 |
在 DSpace 系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。