Autonomous Land Vehicle Localization based on Video Compass

摘要：

　　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.

关键词： Video Compass autonomous land vihicle localization vanishing point

作者: Yiming Nie Tao Wu Chuanxiang Li Xiangjing An Zhenping Sun Lei Ye Bin Dai

作者单位: College of Mechatronic Engineering and Automation National University of Defense Technology Changsha, China

会议类型: 国际会议

会议名称: 2012 International Conference on Electrical Insulating Materials and Electrical Engineering(EIMEE2012)(2012年电绝缘材料和电气工程国际会议)

会议地点: 沈阳

会议语种:英文

页码: 1550-1555

在线出版日期: 2012-05-25（万方平台首次上网日期，不代表论文的发表时间）