Vision algorithm for mobile vehicle navigation
Tiziana D’Orazio, Arcangelo Distante, Giovanni Attolico, Laura Caponetti, Ettore Stella · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1992
Recently there has been an increasing interest in the development of a robot system capable of moving inside buildings. The problem of continuously establishing the position of a vehicle is fundamental in goal-oriented navigation. In this work we propose a vision system for an autonomous vehicle capable of determining its real position with respect to the planned one. A set of control points is given in a fixed coordinate system. If these points are identified in the image plane, the location from which the image has been obtained, and therefore the vehicle position, can be determined.