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Proceedings Paper

Dual-image guidance system for autonomous vehicle on fast focusing and RGB similarity operation
Author(s): Akira Akiyama; Nobuaki Kobayashi; Eiichiro Mutoh; Hideo Kumagai; Hirofumi Yamada; Hiromitsu Ishii
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Paper Abstract

We have developed the dual camera image guidance system for autonomous vehicle based on the fast focusing and the spot RGB spectrum similarity operation. The fast focusing catches the distance information of outside world as a whole. The spot RGB spectrum similarity operation finds the object surface portion in the image. Our fast focusing algorithm works precisely on the differential image such as the Daubechies wavelet transformed high pass image, the Roberts image, Prewitt image, Sobel image and the Laplacian image. The spot RGB spectrum similarity operation for the surface detection comes from the idea of the laser range finder. The illuminated coherent laser reflects on the object surface and the reflected laser is detected on the spectrum band detector. The RGB spectrum distribution on the selected spot on one camera can give the expected similar spectrum information on the position-matched spot on another camera if the selected spot corresponds to the surface of the object. We move the autonomous vehicle based on the distance detection and the surface detection of the outside world due to the controlled dual color camera system. Our autonomous vehicle is equipped with the controllable independent four wheels drive. This vehicle can avoid the object geometrically even if it is just in front of the object. We mount the dual camera image guidance system on two axes jimbal system to aim the object in space.

Paper Details

Date Published: 25 August 2010
PDF: 8 pages
Proc. SPIE 7787, Novel Optical Systems Design and Optimization XIII, 77870E (25 August 2010); doi: 10.1117/12.860286
Show Author Affiliations
Akira Akiyama, Kanazawa Technical College (Japan)
Nobuaki Kobayashi, Kanazawa Institute of Technology (Japan)
Eiichiro Mutoh, Kawasaki Heavy Industries, Ltd. (Japan)
Hideo Kumagai, Tamagawa Seiki Co., Ltd. (Japan)
Hirofumi Yamada, Kanazawa Technical College (Japan)
Hiromitsu Ishii, Nihon Univ. (Japan)

Published in SPIE Proceedings Vol. 7787:
Novel Optical Systems Design and Optimization XIII
G. Groot Gregory; R. John Koshel, Editor(s)

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