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A novel method for guidance of vision-based autonomous vehicles for indoor security patrolling using scale-invariant feature transformation (SIFT) and vehicle localization techniques is proposed. Along-path objects to be monitored are used as landmarks for vehicle localization. The localization work is accomplished by three steps: SIFT-based object image feature matching, 2-D affine transformation...
Localization of an unmanned ground vehicle (UGV) is a very important task for autonomous vehicle navigation. In this paper, we propose a computer vision technique to identify the location of an outdoor UGV. The proposed technique is based on 3D registration of 360 degree laser range data to a digital surface model (DSM). A long sequence of range frames is obtained from a rotating range sensor which...
The last generation of autonomous underwater vehicles (AUV) is being developed with intervention capabilities in mind. These capabilities will provide easy and early inspection and maintenance of subsea offshore structures. The technology developments that implies this upgrade comprise new techniques for subsea vehicle localization, including detection and estimation algorithms. A reliable technique...
The paper presents an original approach for visual identification of road direction of an autonomous vehicle using a neural network classifier called Concurrent Self-Organizing Maps (CSOM), representing a winner-takes-all collection of neural modules. We present the experimental results obtained by computer simulation of our model. The path to be identified has been quantized in 5 output directions...
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