Intelligent road-following system controlled by the Global Position System (GPS) and an error least square method

Chao-Chi Huang; Duncan Fyfe Gillies

doi:10.1117/12.198966

9 January 1995 Intelligent road-following system controlled by the Global Position System (GPS) and an error least square method

Chao-Chi Huang, Duncan Fyfe Gillies

Author Affiliations +

Proceedings Volume 2352, Mobile Robots IX; (1995) https://doi.org/10.1117/12.198966
Event: Photonics for Industrial Applications, 1994, Boston, MA, United States

Abstract

This paper presents a solution to the problem of position and direction estimation for Autonomous Land Vehicles which is based on the Error Least Squares Method. Prior knowledge, in the form of map data is projected into the image space using the assumed position and direction, and is matched with the image data to obtain an error function. We solve the function with the initial position data from the Global Position System (GPS). The GPS receives a satellite signal and computes the location with errors which, in normal conditions are of the order of ten meters. At present the system has been tested using data from natural environments, and will converge to the correct position satisfactorily, provided that the initial error is within a small region which is still a little beyond the precision of the GPS data. We are currently investigating the reasons why it diverges, and at the same time using different technologies in computer vision to increase the region of convergence so that it is within the GPS data accuracy. In this paper, we describe the exterior orientation problem, its mathematical model and the experimental test using data from natural environments.

Citation Download Citation

Chao-Chi Huang and Duncan Fyfe Gillies "Intelligent road-following system controlled by the Global Position System (GPS) and an error least square method", Proc. SPIE 2352, Mobile Robots IX, (9 January 1995); https://doi.org/10.1117/12.198966

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