ASIA unversity:Item 310904400/4420
English  |  正體中文  |  简体中文  |  全文筆數/總筆數 : 94286/110023 (86%)
造訪人次 : 21695338      線上人數 : 588
RC Version 6.0 © Powered By DSPACE, MIT. Enhanced by NTU Library IR team.
搜尋範圍 查詢小技巧：
  • 您可在西文檢索詞彙前後加上"雙引號"，以獲取較精準的檢索結果
  • 若欲以作者姓名搜尋，建議至進階搜尋限定作者欄位，可獲得較完整資料
    •  進階搜尋
    ASIA unversity > 資訊學院 > 資訊傳播學系 > 期刊論文 >  Item 310904400/4420


    請使用永久網址來引用或連結此文件: http://asiair.asia.edu.tw/ir/handle/310904400/4420


    題名: Location Estimation for Indoor Autonomous Vehicle Navigation by Omni-Directional Vision Using Circular Landmarks on Ceilings
    作者: C. J. Wu;W. H. Tsai
    貢獻者: Department of Information Communication
    關鍵詞: Location estimation;Autonomous land vehicle;Omni-directional vision;Omni-directional camera;Omni-directional image;Circular-shaped landmark;Indoor environment;Ceiling
    日期: 2009-05
    上傳時間: 2009-11-25 02:31:18 (UTC+0)
    出版者: Asia University
    摘要: A novel approach to location estimation by omni-directional vision for autonomous vehicle navigation in indoor environments using circular landmark information is proposed. A circular-shaped landmark is attached on a ceiling and an omni-directional camera is equipped on a vehicle to take upward-looking omni-directional images of the landmark. This way of image taking reduces possible landmark shape occlusion and image noise creation, which come from the existence of nearby objects or humans surrounding the vehicle. It is shown that the perspective shape of the circular landmark in the omni-directional image may be approximated by an ellipse by analytic formulas with good shape-fitting effect and fast computation speed. The parameters of the ellipse are then used for estimating the location of the vehicle with good precision for navigation guidance. Both simulated and real images were tested and good experimental results confirm the feasibility of the proposed approach.
    關聯: Robotics and Autonomous Systems 57 (5): 546-555
    顯示於類別:[資訊傳播學系] 期刊論文

    文件中的檔案:

    檔案 描述 大小格式瀏覽次數
    0KbUnknown819檢視/開啟
    415.doc36KbMicrosoft Word589檢視/開啟


    在ASIAIR中所有的資料項目都受到原著作權保護.

    DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library IR team Copyright ©   - 回饋