Image analysis techniques are applied to adaptive automatic vehicle navigation. The image-based navigation system can follow any selected path embedded in a curve-type path network. The system incorporates path network learning, reference path setup, and guided-path navigation. The first capability enables the system to extract relevant information out of a given network map; the second collects along-path reference data for a selected path from the extracted network information. During guided-path navigation, consecutive path images are taken by a television camera on the vehicle and analyzed to provide navigation control along path curves and for angular turning at path crossings. The control structure of the automatic navigation process is modeled as a Moore-type sequential machine in automata theory. Correct path navigation is ascertained by verifying each path crossing encountered on the road against the reference data by an image-matching technique. Simulation of vehicle movements with a computer-controlled pantilt shows the feasibility of the approach.
Adaptive navigation of automated vehicles by image analysis techniques
Adaptive Navigation automatischer Fahrzeuge durch Bildanalysetechniken
IEEE Transactions on Systems, Man and Cybernetics ; SMC-16 , 5 ; 730-740
1986
11 Seiten, 19 Quellen
Article (Journal)
English
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