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Proceedings Paper

Suitability of scene matching for unmanned vehicle navigation
Author(s): Mingyue Ding; Yijun Xiao; Haojun Ai; Chengping Zhou; Jilin Tu
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Paper Abstract

The suitability of reference map used in scene matching based navigation of unmanned vehicle is very important in the selection of reference map. Due to the sensitivity of scene imaging, only some special zones of unmanned vehicle's planned area are suitable for scene matching based navigation. In this paper, first the basic idea of scene matching based navigation is described. Secondly correct matching probability at each position is defined and estimated from statistical parameters of sensed image size window image. In order to decrease the computational cost of parameter calculation, their fast algorithms are presented. Then a description of navigation suitability of reference map, called suitability probability, is proposed. The experimental results on satellite images demonstrated the feasibility of our approach.

Paper Details

Date Published: 12 August 1998
PDF: 9 pages
Proc. SPIE 3366, Robotic and Semi-Robotic Ground Vehicle Technology, (12 August 1998); doi: 10.1117/12.317542
Show Author Affiliations
Mingyue Ding, Huazhong Univ. of Science and Technology (Canada)
Yijun Xiao, Huazhong Univ. of Science and Technology (China)
Haojun Ai, Huazhong Univ. of Science and Technology (China)
Chengping Zhou, Huazhong Univ. of Science and Technology (China)
Jilin Tu, Huazhong Univ. of Science and Technology (China)


Published in SPIE Proceedings Vol. 3366:
Robotic and Semi-Robotic Ground Vehicle Technology
Grant R. Gerhart; Ben A. Abbott, Editor(s)

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