A Visual Positioning System for Vehicle or Mobile Robot Navigation

Huei-Yung LIN; Jen-Hung LIN

doi:10.1093/ietisy/e89-d.7.2109

A Visual Positioning System for Vehicle or Mobile Robot Navigation

Huei-Yung LIN, Jen-Hung LIN

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Localization of a vehicle is a key component for driving assistance or autonomous navigation. In this work, we propose a visual positioning system (VPS) for vehicle or mobile robot navigation. Different from general landmark-based or model-based approaches, which rely on some predefined known landmarks or a priori information about the environment, no assumptions on the prior knowledge of the scene are made. A stereo-based vision system is built for both extracting feature correspondences and recovering 3-D information of the scene from image sequences. Relative positions of the camera motion are then estimated by registering the 3-D feature points from two consecutive image frames. Localization of the mobile platform is finally given by the reference to its initial position.

Publication: IEICE TRANSACTIONS on Information Vol.E89-D No.7 pp.2109-2116

Publication Date: 2006/07/01

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Online ISSN: 1745-1361

DOI: 10.1093/ietisy/e89-d.7.2109

Type of Manuscript: Special Section PAPER (Special Section on Machine Vision Applications)

Category: Robot Navigation

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Huei-Yung LIN, Jen-Hung LIN, "A Visual Positioning System for Vehicle or Mobile Robot Navigation" in IEICE TRANSACTIONS on Information, vol. E89-D, no. 7, pp. 2109-2116, July 2006, doi: 10.1093/ietisy/e89-d.7.2109.
Abstract: Localization of a vehicle is a key component for driving assistance or autonomous navigation. In this work, we propose a visual positioning system (VPS) for vehicle or mobile robot navigation. Different from general landmark-based or model-based approaches, which rely on some predefined known landmarks or a priori information about the environment, no assumptions on the prior knowledge of the scene are made. A stereo-based vision system is built for both extracting feature correspondences and recovering 3-D information of the scene from image sequences. Relative positions of the camera motion are then estimated by registering the 3-D feature points from two consecutive image frames. Localization of the mobile platform is finally given by the reference to its initial position.
URL: https://globals.ieice.org/en_transactions/information/10.1093/ietisy/e89-d.7.2109/_p

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@ARTICLE{e89-d_7_2109,
author={Huei-Yung LIN, Jen-Hung LIN, },
journal={IEICE TRANSACTIONS on Information},
title={A Visual Positioning System for Vehicle or Mobile Robot Navigation},
year={2006},
volume={E89-D},
number={7},
pages={2109-2116},
abstract={Localization of a vehicle is a key component for driving assistance or autonomous navigation. In this work, we propose a visual positioning system (VPS) for vehicle or mobile robot navigation. Different from general landmark-based or model-based approaches, which rely on some predefined known landmarks or a priori information about the environment, no assumptions on the prior knowledge of the scene are made. A stereo-based vision system is built for both extracting feature correspondences and recovering 3-D information of the scene from image sequences. Relative positions of the camera motion are then estimated by registering the 3-D feature points from two consecutive image frames. Localization of the mobile platform is finally given by the reference to its initial position.},
keywords={},
doi={10.1093/ietisy/e89-d.7.2109},
ISSN={1745-1361},
month={July},}

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TY - JOUR
TI - A Visual Positioning System for Vehicle or Mobile Robot Navigation
T2 - IEICE TRANSACTIONS on Information
SP - 2109
EP - 2116
AU - Huei-Yung LIN
AU - Jen-Hung LIN
PY - 2006
DO - 10.1093/ietisy/e89-d.7.2109
JO - IEICE TRANSACTIONS on Information
SN - 1745-1361
VL - E89-D
IS - 7
JA - IEICE TRANSACTIONS on Information
Y1 - July 2006
AB - Localization of a vehicle is a key component for driving assistance or autonomous navigation. In this work, we propose a visual positioning system (VPS) for vehicle or mobile robot navigation. Different from general landmark-based or model-based approaches, which rely on some predefined known landmarks or a priori information about the environment, no assumptions on the prior knowledge of the scene are made. A stereo-based vision system is built for both extracting feature correspondences and recovering 3-D information of the scene from image sequences. Relative positions of the camera motion are then estimated by registering the 3-D feature points from two consecutive image frames. Localization of the mobile platform is finally given by the reference to its initial position.
ER -