標題: Obstacle avoidance in person following for vision-based autonomous land vehicle guidance using vehicle location estimation and quadratic pattern classifier
作者: Ku, CH
Tsai, WH
資訊工程學系
Department of Computer Science
關鍵字: autonomous land vehicle guidance;obstacle avoidance;person following;quadratic pattern classifier;vehicle location estimation
公開日期: 1-二月-2001
摘要: An obstacle avoidance method for use in person following for vision-based autonomous land vehicle (ALV) guidance is proposed. This method is based on the use of vehicle location estimation and a quadratic pattern classifier, and aims to guide the ALV to follow a walking person in front by navigating along a derived collision-free path. Before generating the collision-free path, the person's location is obtained from extracted objects in the image by a person detection method. The object closest to a predicted person location is regarded as the followed person and the remaining objects are regarded as obstacles. The collision-free navigation path is designed for ALV guidance in such a way that the ALV not only can keep following the person but also can avoid collision with nearby obstacles. The navigation path results from a quadratic classifier that uses the vehicle and all of the objects in the image as input patterns. A turn angle is then computed to drive the ALV to follow the navigation path. Successful navigation sessions confirm the feasibility of the approach.
URI: http://dx.doi.org/10.1109/41.904581
http://hdl.handle.net/11536/29889
ISSN: 0278-0046
DOI: 10.1109/41.904581
期刊: IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume: 48
Issue: 1
起始頁: 205
結束頁: 215
顯示於類別:期刊論文


文件中的檔案:

  1. 000167163500023.pdf