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Title: | Vision-based Vehicle Navigation Using the Fluorescent Lamp Array on the Ceiling |
Authors: | HASHIMOTO, Takeshi YAMAMOTO, Shigehiro ASO, Takehiko ABE, Minoru |
Issue Date: | 29-Jan-1993 |
Publisher: | Faculty of Engineering, Kyoto University |
Journal title: | Memoirs of the Faculty of Engineering, Kyoto University |
Volume: | 55 |
Issue: | 1 |
Start page: | 37 |
End page: | 48 |
Abstract: | In this paper, autonomous navigation based on a TV vision system on board a vehicle is proppsed. Our method is to use fluorescent lamp arrays on the ceiling as a lighthouse for vehicle motion. First, experimental study of vehicle control based on information from photo-sensors, set up on a TV screen, is worked out using an actual size model. Then, numerical simulations for this control scheme are carried out in detail. Moreover, a more vision-based approach is investigated which extracts information aspects from the images of fluorescent lamp arrays to realize more exact motion along the lamp array. Finally, a practical autonomous vehicle which is controlled by a photo-sensor system is constructed and its experimental results are shown. |
URI: | http://hdl.handle.net/2433/281471 |
Appears in Collections: | Vol.55 Part 1 |

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