Integrated real-time vision system for vehicle control in non-structured environments

被引：10

作者：

Ferruz, J ^{[1
]}

Ollero, A ^{[1
]}

机构：

[1] Univ Sevilla, Escuela Super Ingenieros, Dept Ingn Sistemas & Automat, Seville 41092, Spain

来源：

ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE | 2000年 / 13卷 / 03期

关键词：

computer vision; feature matching; position estimation; non-structured environments; mobile robotics; parallel processing; generalized predictive control; path tracking; autonomous vehicles;

D O I：

10.1016/S0952-1976(00)00007-5

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An integrated vision-based real-time vehicle control system is proposed, as implemented in the experimental vehicle ROMEO-3R. One of the applications developed, an active object-tracking method using generalized predictive control, is also described. The real-time computer-vision module is based on a multiprocessor, DSP-based system; fast processing is achieved by parallel execution of the main image-processing algorithms. A pan-and-tilt platform allows the tracking process to be decoupled from vehicle motion. (C) 2000 Elsevier Science Ltd. All rights reserved.

引用

页码：215 / 236

页数：22

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