CAD-MAP AND ESTIMATION OF ALV POSITIONS IN MOUNTAINOUS AREAS
SCIE
SCOPUS
- Title
- CAD-MAP AND ESTIMATION OF ALV POSITIONS IN MOUNTAINOUS AREAS
- Authors
- JEE, WS; JUNG, MY; KANG, JK; KIM, KS; SUH, SH
- Date Issued
- 1994-07
- Publisher
- CAMBRIDGE UNIV PRESS
- Abstract
- Position estimation is a key issue for an ALV (Autonomous Land Vehicle) in navigating a mountainous area. The unevenness of the terrain makes mechanical velocity sensors inaccurate (due to wheel slippage), and the lack of appropriate landmarks complicates the problem. In this paper, we present a solution method using features of the skyline. The skyline from the vision system is assumed given, and compared with a computer map, called the CAD-MAP. The algorithm is composed of: a) Identification of the peak points in the camera skyline, b) Computing the ALV position for the identified peak points, and c) Searching for the corresponding peak point in the CAD-MAP. Heuristics for computational efficiency and solution accuracy are also included in the algorithm. To test the validity and effectiveness of the algorithm, numerous simulations were performed and analyzed.
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/21935
- DOI
- 10.1017/S0263574700017318
- ISSN
- 0263-5747
- Article Type
- Article
- Citation
- ROBOTICA, vol. 12, page. 287 - 297, 1994-07
- Files in This Item:
- There are no files associated with this item.
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.