Title :
Estimating ALV position in mountainous area
Author :
Suh, Suk-Hwan ; Kang, Jae-Kwan ; Jee, Wo-Suk ; Jung, Moo-Young ; Kim, Kwang-Soo
Author_Institution :
Dept. of Ind. Eng., POSTECH, Pohang, South Korea
Abstract :
A method of position estimation for an ALV (autonomous land vehicle) using features of the skyline is presented. The skyline from the vision system is assumed given and is compared with a computer map, called the CAD-MAP. The algorithm consists of identifying the peak points in the camera skyline, computing the ALV position for the identified peak points, and searching for the corresponding peak point in the CAD-MAP. Heuristics for computational efficiency and solution accuracy are also included in the algorithm. To test the validity and effectiveness of the algorithm, numerous simulations were performed and analyzed
Keywords :
mobile robots; CAD-MAP; autonomous land vehicle; computational efficiency; computer map; global path planner; heuristics; mountainous area; peak points; position estimation; simulations; skyline features; solution accuracy; vision system; Analytical models; Cameras; Computational efficiency; Computational modeling; Computer vision; Land vehicles; Machine vision; Performance analysis; Performance evaluation; Testing;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583930
