A Visual Positioning System for Vehicle or Mobile Robot Navigation

Authors:
Huei-Yung Lin;Jen-Hung Lin
Affiliations:
The authors are with the Department of Electrical Engineering, National Chung Cheng University, Chia-Yi 621, Taiwan, R.O.C. E-mail: lin@ee.ccu.edu.tw,;The authors are with the Department of Electrical Engineering, National Chung Cheng University, Chia-Yi 621, Taiwan, R.O.C. E-mail: lin@ee.ccu.edu.tw,
Venue:
IEICE - Transactions on Information and Systems
Year:
2006

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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.