3-D visual ranging and navigating vehicle

• Main Authors: Del Rosario, Dennis G., Onrubia, Honorato R., Pinpin, Lord Kenneth M., Vasquez, Ferdinand E.
• Format: text
• Language: English
• Published: Animo Repository 1992
• Subjects: Image processing; Automated guided vehicle systems; Electronics in navigation; Robotics
• Online Access: https://animorepository.dlsu.edu.ph/etd_bachelors/7453
• Institution: De La Salle University

Among the methods for navigation, vision presents the most exciting and challenging possibilities. This thesis describes a visual navigating vehicle that addresses the challenge of vehicle guidance in a controlled environment. Inspired by biological models, visual ranging is done by utilizing the disparity between stereo images. A marker providing well contrasted edges are used to facilitate establishing correspondences between images of the same scene and aid in navigation. Stereo images from two cameras are transmitted by radio to a digitizer interfaced to a PC. A 3 by 3 gradient mask is used to detect edges. Segment based stereo provides range data while inverse perspective measures wall orientation. All image analysis and navigating operations would be processed by the PC. Vehicular control is achieved by a microprocessor-based motor controller communicating serially with the external PC via a digital radio link.