Recently there has been an increasing interest in the development of a robot system capable of moving inside buildings. The problem of continuously establishing the position of a vehicle is fundamental in goal-oriented navigation. In this work we propose a vision system for an autonomous vehicle capable of determining its real position with respect to the planned one. A set of control points is given in a fixed coordinate system. If these points are identified in the image plane, the location from which the image has been obtained, and therefore the vehicle position, can be determined.
Vision algorithm for mobile vehicle navigation
Mobile Robots VI ; 1991 ; Boston,MA,United States
Proc. SPIE ; 1613
1992-02-14
Conference paper
Electronic Resource
English
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