Autonomous Land Vehicle Localization Based on Video Compass

Yi Ming Nie; Tao Wu; Chuan Xiang Li; Xiang Jing An; Zhen Ping Sun; Lei Ye; Bin Dai

doi:10.4028/www.scientific.net/AMR.546-547.1550

Paper Titles

Research of Random Drift for MEMS Gyroscope Based on Gray System and ARMA Model
p.1526

Study on a Method by Using VB for Failure Diagnosis of Mechatronical Equipments
p.1532

Feature Selection Method Based on Parallel Binary Immune Quantum-Behaved Particle Swarm Optimization
p.1538

Research of GDA Based on IEC 61970 and CORBA
p.1544

Autonomous Land Vehicle Localization Based on Video Compass
p.1550

Research of Object-Oriented Design Process Based on UML
p.1556

Research on the ELAC Systems of A320 Family Aircrafts
p.1562

Study on the Measurement Method and Safety Design of Ultrasonic Cleaning Equipment
p.1568

Design of FPGA-Based Fault-Tolerant Embedded System
p.1574

HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 546-547Autonomous Land Vehicle Localization Based on...

Autonomous Land Vehicle Localization Based on Video Compass

Abstract:

The autonomous land vehicle localization is crucial for navigation, local path planning and position control in urban environments. The Video Compass method is proposed for autonomous land vehicle in this paper. First, the lane marking information from monocular camera is extracted. Second, the change of vanishing point is calculated from the lane markings. Third, with the above two conditions the autonomous land vehicle absolute direction could be deduced. This is the technique of the Video Compass proposed in this paper. Finally, the localization is calculated by the Video Compass and the wheel encoder. The algorithm presented in this paper is proved to be both robust and fast by experiments.

You might also be interested in these eBooks

Electrical Insulating Materials and Electrical Engineering

View Preview

Info:

Periodical:

Advanced Materials Research (Volumes 546-547)

Pages:

1550-1555

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.546-547.1550

Citation:

Cite this paper

Online since:

July 2012

Authors:

Yi Ming Nie, Tao Wu, Chuan Xiang Li, Xiang Jing An, Zhen Ping Sun, Lei Ye, Bin Dai

Keywords:

Autonomous Land Vihicle Localization, Vanishing Point, Video Compass

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] J. Kosecka and W. Zhang, Video Compass, European conference on Computer Vision, LNCS 2350, 2002, pp.476-491.

Google Scholar

[2] Duncan Robertson and Roberto Cipolla, An image based system for urban navigation, In BMVC, 2004, pp.819-828.

Google Scholar

[3] B. Kitt, A. Geiger and H. Lategahn, Visual odometry based on stereo image sequences with ransac-based outlier rejection scheme, In IEEE Intelligent Vehicles Symposium, (2010).

DOI: 10.1109/ivs.2010.5548123

Google Scholar

[4] M. Agrawal and K. Konolige, Real-time localization in outdoor environments using stereo vision and inexpensive GPS, the 18th International Conference on Pattern Recognition, Vol. 3, pp.1063-1068, August (2006).

DOI: 10.1109/icpr.2006.962

Google Scholar

[5] Peter Gemeiner, Andrew J. Davison and Markus Vincze, Improving localization robustnessin monocular SLAM using a high-speed camera, In Proc. Of Robotics: Science and Systems, Vol. 4, June (2008).

DOI: 10.15607/rss.2008.iv.024

Google Scholar

[6] J. M. M. Montiel and Andrew J. Davison, A Visual Compass based on SLAM, In Proc. Intl. Conf. on Robotics and Automation, (2006).

Google Scholar