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In this paper we show that for an observer moving in the plane with no other information than the measurement of relative bearing to three known landmarks, it is possible to completely reconstruct its position and velocity. In particular this applies to the case where no model of the vehicle, nor odometry or acceleration measurements are available. Furthermore, in the same hypotheses, the position...
In this research, we propose a unique multi-planar LIDAR and computer vision calibration algorithm. This method only requires the camera and LIDAR to observe a planar pattern at different positions and orientations. Geometric constraints of the dasiaviewspsila from the LIDAR and camera images are resolved as the coordinate transformation coefficients. The proposed approach consists of two stages:...
A method for calculating visual odometry for ground vehicles with car-like kinematic motion constraints similar to Ackerman's steering model is presented. By taking advantage of this non-holonomic driving constraint we show a simple and practical solution to the odometry calculation by clever placement of a single camera. The method has been implemented successfully on a large industrial forklift...
Virtual reality combining with vehicle running can exhibit vehicle's status dynamically in a virtual vision environment. The characters of intelligent vehicle running are analyzed. A virtual simulation system about intelligent vehicle running is realized based on virtual reality technology and MultiGen Creator/Vega, VC++, the constructing process of the system is introduced, the safety distance models...
This paper presents an accurate localization strategy for vehicles in urban environments by using the communication between vehicles and the vision systems when GPS data is unavailable or has a poor quality of signal due to multi-tracks or bad satellite visibility. The new generation of the advanced driver assistance systems (ADAS systems) based on cooperation between vehicles can offer serious perspectives...
The objective of this research is to develop an advanced driver assistance system with lane departure warning and forward collision warning functions. The main input of this system is a CMOS camera, which is used to acquire roadway image in front of vehicle. In order to extract lane markings and vehicles from roadway image, the image processing methods such as coordinate systems transformation, object...
This paper describes the evaluation of driver assistance system by a driving simulator that authors have developed that provides information on congestion to the driver in the expressway. In the evaluation, driver behavior measurement and subjective assessment by the questionnaire are done, when the system correctly offers drivers warning of congestion (true warning), and when the warning cannot be...
In this paper, a real-time vision-based safety assist system is proposed to provide the driver an assistance system improving the security on driving and after parking. The estimated distances and a friendly intuitive graph are shown on the screen for drivers to examine the distance between other vehicles. The driving status can also be recorded in H.264. Furthermore, the users' mobile phones can...
This paper presents a real-time vision system for assisting driver during nighttime driving. The proposed system provides the following features: 1) effectively detection and tracking of oncoming and preceding vehicles based on image segmentation and pattern analysis techniques. 2) Robust and adaptive vehicle detection under various illuminated conditions at nighttime urban environments benefited...
This paper describes a position-based visual servo control scheme designed for an underwater vehicle. The methodology proposes a path planning technique, which guarantees that a flat target is kept in the camera optical field, while the vehicle avoids collision with the surface the target lays on. The vehicle pose (position and orientation) with respect to the target is obtained using a laser vision...
In this paper, a simple and reliable on-road vehicle event detection algorithm is proposed to identify events for vehicle. A virtual line at the same position of a frame is employed to extract visual rhythm. The visual rhythm is a compact representation of a video that captures the temporal information of vehicle status of a coarsely spatially sampled video sequence. By analyzing statistical characteristics...
We present a distance measurement method based on stereo vision system while guaranteeing accuracy and reliability. It has been considered as difficult problem to measure both long and short distance with a stereo vision system accurately due to sampling error and camera sensor error. To resolve these problems of the stereo vision system, we utilize an algorithm which is consisted of a modified sub-pixel...
Visual odometry system is an important part in the navigation task. It is a remedy to the traditional odometry, which can give precise distance and course information in unknown or slippery situations. This paper proposes a monocular vision odometry system. It facilitates matching keypoints in different frames sharing the same world coordinates as one necessary constraint. By accurately matching the...
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