Approved for public release; distribution is unlimited / 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-II. 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 a 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 modeled 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 486 pixel image on a 35 MHz processor. The pose determination results have been tested to be accurate to within a few inches for translational error and within one degree rotational error.
| Identifer | oai:union.ndltd.org:nps.edu/oai:calhoun.nps.edu:10945/24105 |
| Date | 03 1900 |
| Creators | Peterson, Kevin Robert |
| Contributors | Kanayama, Yutaka, Rowe, Neil C., Naval Postgraduate School (U.S.), Department of Computer Science |
| Publisher | Monterey, California. Naval Postgraduate School |
| Source Sets | Naval Postgraduate School |
| Language | en_US |
| Detected Language | English |
| Type | Thesis |
| Rights | This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. As such, it is in the public domain, and under the provisions of Title 17, United States Code, Section 105, it may not be copyrighted. |
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