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Proceedings Paper

Real-time landmark-based optical vehicle self-location
Author(s): Merrill D. Squiers; Michael P. Whalen; Gary Moody; Charles J. Jacobus; Mark J. Taylor
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Paper Abstract

This paper presents a system for performing real-time vehicular self-location through a combination of triangulation of target sightings and low-cost auxiliary sensor information (e.g. accelerometer, compass, etc.). The system primarily relies on the use of three video cameras to monitor a dynamic 1 80° field of view. Machine vision algorithms process the imagery from this field of view searching for targets placed at known locations. Triangulation results are then combined with the past video processing results and auxiliary sensor information to arrive at real-time vehicle location update rates in excess of 10 Hz on a single low-cost conventional CPU. To supply both extended operating range and nighttime operational capabilities, the system also possesses an active illumination mode that utilizes multiple, inexpensive infrared LED's to act as the illuminating source for reflective targets. This paper presents the design methodology used to arrive at the system, explains the overall system concept and process flow, and will briefly discuss actual results of implementing the system on a standard commercial vehicle. Keywords: Machine Vision, Self-Location, Autonomous Vehicles, Infrared Sensing, Position Determination

Paper Details

Date Published: 27 May 1996
PDF: 11 pages
Proc. SPIE 2738, Navigation and Control Technologies for Unmanned Systems, (27 May 1996); doi: 10.1117/12.241082
Show Author Affiliations
Merrill D. Squiers, Cybernet Systems Corp. (United States)
Michael P. Whalen, Cybernet Systems Corp. (United States)
Gary Moody, Cybernet Systems Corp. (United States)
Charles J. Jacobus, Cybernet Systems Corp. (United States)
Mark J. Taylor, Cybernet Systems Corp. (United States)


Published in SPIE Proceedings Vol. 2738:
Navigation and Control Technologies for Unmanned Systems
Scott A. Speigle, Editor(s)

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