Visual Navigation for an Autonomous Mobile Vehicle
Abstract
Image understanding for a mobile robotic vehicle is an important and complex task for ensuring safe navigation and extended autonomous operations. The goal of this work is to implement a working vision-based navigation control mechanism within a known environment onboard the autonomous mobile vehicle Yamabico-11. Although installing a working hardware system was not accomplished, the image processing, model description, pattern matching, and positional correction methods have all been implemented and tested on a graphics workstation. A novel approach for straight-edge feature extraction based upon least squares fitting of edge-related pixels is presented and implemented for the image processing task. A simple method for determining the camera's location and orientation (pose) follows by matching the vertical extracted edges from an image with the linear features of a two-dimensional view of the modelled environment based upon an estimated pose of the robot. Image processing, construction of the two dimensional view of the model, and pose determination are conducted sequentially in less than one minute for a 646 x 86 pixel image on a 35 MHz processor. The pose determination results have been tested to be accurate within a few inches for translational error and within one degree rotational error.
Document Details
- Document Type
- Technical Report
- Publication Date
- Mar 26, 1992
- Accession Number
- ADA251669
Entities
People
- Kevin R. Peterson
Organizations
- Naval Postgraduate School