碩士 / 國立中正大學 / 電機工程所 / 93 / Localization of a vehicle is a key component for driving assistance or autonomous navigation. In this work, we propose a vision based positioning system 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. A robust feature tracking method based on simultaneously considering the inter-frame images from the same camera and the stereo image pair from different cameras at a fixed time instant is developed. Relative positions of the camera motion are then estimated by registering the 3-D feature points from two consecutive image frames. Localization of the vehicle is finally given by the reference to its initial position.
| Identifer | oai:union.ndltd.org:TW/093CCU05442007 |
| Date | January 2005 |
| Creators | Jen-Hung Lin, 林任宏 |
| Contributors | Huei-Yung Lin, 林惠勇 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 77 |
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