Suitability of scene matching for unmanned vehicle navigation

Mingyue Ding; Yijun Xiao; Haojun Ai; Chengping Zhou; Jilin Tu

doi:10.1117/12.317542

12 August 1998 Suitability of scene matching for unmanned vehicle navigation

Mingyue Ding, Yijun Xiao, Haojun Ai, Chengping Zhou, Jilin Tu

Proceedings Volume 3366, Robotic and Semi-Robotic Ground Vehicle Technology; (1998) https://doi.org/10.1117/12.317542
Event: Aerospace/Defense Sensing and Controls, 1998, Orlando, FL, United States

Abstract

The suitability of reference map used in scene matching based navigation of unmanned vehicle is very important in the selection of reference map. Due to the sensitivity of scene imaging, only some special zones of unmanned vehicle's planned area are suitable for scene matching based navigation. In this paper, first the basic idea of scene matching based navigation is described. Secondly correct matching probability at each position is defined and estimated from statistical parameters of sensed image size window image. In order to decrease the computational cost of parameter calculation, their fast algorithms are presented. Then a description of navigation suitability of reference map, called suitability probability, is proposed. The experimental results on satellite images demonstrated the feasibility of our approach.

Citation Download Citation

Mingyue Ding, Yijun Xiao, Haojun Ai, Chengping Zhou, and Jilin Tu "Suitability of scene matching for unmanned vehicle navigation", Proc. SPIE 3366, Robotic and Semi-Robotic Ground Vehicle Technology, (12 August 1998); https://doi.org/10.1117/12.317542

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