Intelligent vehicular vision device based on ground texture and global localization method thereof

A technology of vision device and positioning method, applied in the field of mobile robots, can solve problems such as system malfunction, difficulty in feature extraction, lack of robustness, etc.

Inactive Publication Date: 2007-08-01
SHANGHAI JIAO TONG UNIV
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  • Abstract
  • Description
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Problems solved by technology

Therefore, if it is in a relatively complex outdoor environment, feature extraction is more difficult, the method described in the article is not applicable
and the text does not mention the robustness of the method to environmental changes
[0005] Another major problem with vision-based methods is that when environmental conditions such as lighting and shadows change or when the front of the camera is blocked, the system is likely to fail to operate normally, that is, it cannot show strong robustness to environmental changes.

Method used

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  • Intelligent vehicular vision device based on ground texture and global localization method thereof

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Embodiment Construction

[0042] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings: the present embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation is provided, but the protection scope of the present invention is not limited to the following embodiments.

[0043] As shown in Figures 1, 2, and 3, this embodiment includes: a car body 1, a shade cloth 3, a pulsed light tube 4, a camera 5, a wide-angle lens 6, a base plate 7, and a data line 8.

[0044] The shading cloth 3 is arranged on the inner side of the wheel 2 at the bottom of the car body 1, the pulse type lamp tube 4 is arranged on the inner side of the shading cloth 3 at the bottom of the car body 1, the camera 5 is arranged on the base plate 7, and the base plate 7 is arranged on the bottom of the car body 1, so that the camera 3 Shooting downwards, the wide-angle lens 6 is set on the camera 5, and the camera 5 ...

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Abstract

This invention relates to mobile robot technique based on earth seam intelligent car visual device and its whole layout position method, which comprises the following steps: a, establishing environment layout earth seam map into system; b, sending the caught image signals by data line or collection program into top layer process unit; c, top layer process unit processes images to extract image seam information to form one local earth seam map; d, using intelligent mile information to reduce local map index range; e, searching the current local earth map and whole earth seam map.

Description

technical field [0001] The invention relates to a device and a method in the field of mobile robot technology, in particular to a ground texture-based smart car vision device and a global positioning method thereof. Background technique [0002] The self-localization problem of smart cars means that smart cars use sensor information to estimate their own pose (position and attitude) in the operating environment. The first thing encountered in practical application is the positioning problem, which is the premise of realizing smart car navigation. At present, the main positioning methods include positioning based on magnetic signals and positioning based on vision. Positioning based on magnetic signals is a relatively mature positioning method at present, but this method needs to bury sensing devices (such as energized wires or magnetic nails) in the operating environment. The system implementation process is cumbersome and difficult to maintain. When changing the operating ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/00G01C21/30H04N5/225B60R11/00
Inventor 杨明方辉杨汝清
Owner SHANGHAI JIAO TONG UNIV
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