Multifunction marking for vision navigation of mobile object and synthesis navigation method

A visual navigation and integrated navigation technology, applied in the direction of road network navigators, etc., can solve the problems of low real-time navigation method, difficult path change, high cost, etc., and achieve the effects of reduced calculation, convenient laying, and simple structure

Inactive Publication Date: 2011-06-15
TIANJIN UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problems of the existing navigation methods such as low real-time performance, high cost, and hard-to-change paths, and to provide a simple, economical, high-real-time mobile visual navigation algorithm and a road sign suitable for the algorithm.

Method used

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  • Multifunction marking for vision navigation of mobile object and synthesis navigation method
  • Multifunction marking for vision navigation of mobile object and synthesis navigation method
  • Multifunction marking for vision navigation of mobile object and synthesis navigation method

Examples

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Effect test

Embodiment 1

[0034] Example 1: Design of Multifunctional Road Signs

[0035] like figure 1 As shown, the multifunctional road sign for mobile visual navigation provided by the present invention is designed as a dial-type combination structure. The main body of the road sign 1 is a disc with a radius of R. The center of the disc is the center of the road sign. Two discs for indicating The direction of the next road sign and the auxiliary part of the road sign with a pointer-shaped structure for judging whether the vehicle body is deflected, namely the first auxiliary part 2 and the second auxiliary part 3; the main body and auxiliary part of the road sign adopt two different colors, such as the main body adopts yellow , the auxiliary part is purple.

[0036] The shape of the auxiliary part of the road sign is designed as a trapezoidal structure with a width of R and a distance of R / 2 from the inner side of the auxiliary part to the center of the circle. The second auxiliary part 3 of the r...

Embodiment 2

[0037] Embodiment 2: integrated navigation method

[0038] Integrated navigation methods for moving objects, including:

[0039] 1), a set of multifunctional road sign sequence described in embodiment 1 is horizontally laid on the top of the mobile path;

[0040] 2) Identification and positioning of road signs, including:

[0041] Calculate search range

[0042] The pre-processing of the images within the search range includes color recognition of the images within the search range, and the use of the proportional relationship and positional relationship between the main part of the road sign and the auxiliary part to exclude the interference of other objects with similar colors but not road signs.

[0043] Compute the position of a landmark:

[0044] Calculate the central position of the road sign by using the proportional relationship and positional relationship between the main part and the auxiliary part of the road sign;

[0045] Template matching is performed near th...

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Abstract

A multifunctional road sign and integrated navigation method, aiming to solve problems that the current navigation method has low instantaneity, high cost and the path difficult to change. The multifunctional road sign provided in this invention comprises a disc-type road sign body and two road sign auxiliary parts which have the pointer structure and are used for indicating the direction of the next road sign and judging whether the vehicle body is deflected. The integrated navigation method comprises: horizontally disposing the road sign sequence above the moving body based on the travelingroute; acquiring the scene image via a lens, and performing the identification positioning and correcting the moving body so as to make the moving body travel along the set route. The navigation arithmetic based on the road sign does not need to process the whole image, thereby reducing the calculated amount, improving the system instantaneity. The moving body based on the road sign and the navigation arithmetic not only can travel, but also return along the same way.

Description

【Technical field】: [0001] The invention belongs to the technical field of visual navigation of moving bodies. 【Background technique】: [0002] Visual navigation is an important research direction in the field of mobile objects and has a good application prospect. [0003] At present, visual navigation can be roughly divided into two categories, one needs to be modeled in advance, and the algorithm is complex, and the real-time performance is not high; the other is based on artificially laid road signs. The need to search the entire scene leads to complex algorithms, poor real-time performance, and easy loss of observations. 【Invention content】: [0004] The purpose of the present invention is to solve the problems of the existing navigation methods such as low real-time performance, high cost, and hard-to-change paths, and to provide a simple, economical, high-real-time mobile visual navigation algorithm and a road sign suitable for the algorithm. . [0005] The multifu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/26G01C21/34
Inventor 贾云伟王聃曹作良
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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