New autonomous navigation technique: the vision system with single camera

Kai An; AiLi Han; LiDing Song; JingFeng Lu

doi:10.1117/12.738210

14 November 2007 New autonomous navigation technique: the vision system with single camera

Kai An, AiLi Han, LiDing Song, JingFeng Lu

Proceedings Volume 6789, MIPPR 2007: Medical Imaging, Parallel Processing of Images, and Optimization Techniques; 67892P (2007) https://doi.org/10.1117/12.738210
Event: International Symposium on Multispectral Image Processing and Pattern Recognition, 2007, Wuhan, China

Abstract

Deep space exploration has an important effect in science and national economy. Since the rambler used in deep space exploration is controlled by ground station, its slow response rate and walking speed will be a main trouble in deep space exploration. The technique of computer vision can be applied to autonomous navigation of a rambler, but as far as the present case is concerned, two cameras must be used simultaneously to record the image of the vision field. Through matching of two images, the height in every discrete point in vision field can then be determined according to some algorithm. However, the calculation of matching is so complex that the walking speed of the rambler has to be limited. This paper deals with the improvement of autonomous navigation technique in order that the rambler can walk rapidly. To that end, a new technique of rambler automatic navigation, combing laser with camera to substitute the function of image matching, is proposed in this paper: The laser beam scans the road inside the vision field of the camera and simultaneously, the camera takes photographs one after another. An algorithm is given in this paper to obtain the deepness data of spots in the field. A simulation example given in this paper demonstrates the feasibility of the technique and correctness of its algorithm and shows that this technique with its algorithm can decrease detection time obviously and identify the terrain of the vision field rapidly. So far, the rambler used in deep space exploration is controlled by ground station, its slow response rate and walking speed will be a main trouble in deep space exploration. The new vision system proposed in this paper capture the information about vision field by means the geometry relationship formed by laser, camera and laser spots and accordingly, can manipulate images fleetly. Combining with image reconstruction, this technique will enhance the speed of the automatic navigation greatly and find extensive application in deep space exploration.

Citation Download Citation

Kai An, AiLi Han, LiDing Song, and JingFeng Lu "New autonomous navigation technique: the vision system with single camera", Proc. SPIE 6789, MIPPR 2007: Medical Imaging, Parallel Processing of Images, and Optimization Techniques, 67892P (14 November 2007); https://doi.org/10.1117/12.738210

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available