基于视觉的车辆自主导航定位

2007 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2007-06-20 DOI:10.1109/CIRA.2007.382905

Steve Velat, Jaesang Lee, Nicholas Johnson, C. Crane

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引用次数: 18

摘要

目前，绝大多数正在开发的自主地面车辆都使用基于GPS的导航系统。虽然GPS系统的精度在过去十年中有了很大的提高，但其信号的稳定性却没有提高。这种现象通常被称为“漂移”，其量级可能超过几米。本文提出了一种基于视觉的基于先验信息和感知道路特征的车辆位置校正和定位方法。这种方法被称为基于视觉的城市环境位置校正，并将在2007年DARPA城市挑战赛中部署。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Vision Based Vehicle Localization for Autonomous Navigation

The vast majority of Autonomous Ground Vehicles in development today operate with GPS based navigation systems. While the accuracy of GPS systems has improved greatly over the previous decade, the stability of their signal has not. The phenomenon is commonly known as "drift" and may have a magnitude of more than a few meters. This paper outlines a method for vision based correction and localization of vehicle position through consideration of a priori information and perceived road characteristics. The approach is called Vision Based Position Correction for Urban Environments, and it will be deployed in the 2007 DARPA Urban Challenge.

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2007 International Symposium on Computational Intelligence in Robotics and Automation

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