|
|
|
A Road Following System for Intelligent Vehicles Based on Active Vision
|
ZHANG Yutenga,YANG Minga,WANG Chunxiangb
|
（a. Department of Automation; b. Research Institute of Robotics, Shanghai Jiaotong University， Shanghai 200240， China）
|
|
|
|
Abstract The active vision method was used in the control of intelligent vehicles on urban environment roads to expand the field of view of onboard camera. The angle of the pan&tilt unit is set according to the relative position between the lane and the vehicle to keep the lane in the middle of the image. The corresponding relationship between the vehicle coordinate system and image coordinate system was analyzed and calculated in real time. The conclusion that the active vision system has a higher roadtracking accuracy and less imagelost rate is shown in the comparison experiments between the active vision system and the traditional vision system.
|
|
Received: 22 October 2009
Published: 31 August 2010
|
|
|
|
|
|
| [1] |
LIU Zhong, CAO Qi-Xin, ZHU Xiao-Xiao, WANG Wen-Shan. Collision Detection and Optimization of Dual-Arm Mobile Robot Based on Node Tree of VRML[J]. J. Shanghai Jiaotong Univ.(Sci.) , 2011, 45(07): 985-989. |
| [2] |
CHEN Ping-a, WANG Chun-Xiang-a, YANG Ming-b, WANG Bing-b. Design of an Active Safety Collision Avoidance System Based on Adaptive Warning Area[J]. J. Shanghai Jiaotong Univ.(Sci.) , 2011, 45(07): 995-999. |
| [3] |
. [J]. J. Shanghai Jiaotong Univ.(Sci.) , 2011, 45(02): 168-0172. |
| [4] |
WANG Jingchuan1,2,CHEN Weidong1,2,ZHANG Xu1
. A Robust Landmark Localization System for Outdoor Mobile Robot
[J]. J. Shanghai Jiaotong Univ.(Sci.) , 2010, 44(09): 1181-1186. |
|
|
|
|
