Beacon Tracking with an Embedded Omni-vision System

Author

Fu, Huazhu ; Cao, Zuoliang ; Röning, Juha

Author_Institution

Sch. of Mech. Eng., Tianjin Univ. of Technol., Tianjin, China

Volume

5

fYear

2009

fDate

14-16 Aug. 2009

Firstpage

274

Lastpage

278

Abstract

This paper presents an embedded omni-vision navigation system which involves beacon tracking and vehicle localization. A new tracking algorithm, the Feature Matching Embedded Particle Filter, is proposed. A global localization method for omni-vision based on coordinate transformation is also proposed. The Digital Signal Processor (DSP) provides a hardware platform for an on-board tracker. Our dynamic navigator employs the DSP tracker to follow landmarks in real time during the arbitrary movement of the vehicle and computes its position for localization based on time sequence images analysis. Experimental results demonstrated that the navigation system can efficiently offer the vehicle guidance.

Keywords

digital signal processing chips; embedded systems; navigation; real-time systems; tracking; vehicles; arbitrary movement vehicle; beacon tracking; digital signal processor; dynamic navigator; embedded omni vision system; feature matching embedded particle filter; global localization method; hardware platform; onboard tracker; real time landmarks; time sequence images analysis; vehicle guidance; vehicle localization; Digital signal processing; Digital signal processors; Lenses; Mechanical engineering; Monte Carlo methods; Navigation; Particle filters; Particle tracking; Signal processing algorithms; Vehicles; Particle Filter; embedded; multi-object tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Natural Computation, 2009. ICNC '09. Fifth International Conference on

Conference_Location

Tianjin

Print_ISBN

978-0-7695-3736-8

Type

conf

DOI

10.1109/ICNC.2009.296

Filename

5366515