Qualitative visual navigation using weighted correlation

Author

Chen, Shaoyun ; Lin, Xueyin ; Zhu, Zhigang

Author_Institution

Dept. of Comput. Sci. & Technol., Tsinghua Univ., Beijing, China

fYear

1993

fDate

15-17 Jun 1993

Firstpage

620

Lastpage

621

Abstract

Based on flat ground assumption, a correlation method is developed to estimate the orientation of a vehicle relative to its running environment. A weight function is introduced to account for figure variation caused by 3D dynamic scene and perspective effects caused by the camera system. The estimated parameters can be qualitatively used in visual navigation. Results indicate that robust estimation can be achieved in real time by using the powerful image processing system PIPE (Pipelined Image Processing Engine)

Keywords

computer vision; computerised navigation; correlation methods; mobile robots; parameter estimation; path planning; 3D dynamic scene; PIPE; Pipelined Image Processing Engine; camera system; figure variation; flat ground assumption; perspective effects; qualitative visual navigation; robust estimation; running environment; weight function; weighted correlation; Cameras; Correlation; Image processing; Land vehicles; Layout; Navigation; Parameter estimation; Road vehicles; Robustness; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Vision and Pattern Recognition, 1993. Proceedings CVPR '93., 1993 IEEE Computer Society Conference on

Conference_Location

New York, NY

ISSN

1063-6919

Print_ISBN

0-8186-3880-X

Type

conf

DOI

10.1109/CVPR.1993.341057

Filename

341057