Gyroscopy and Navigation

, Volume 7, Issue 1, pp 66–71 | Cite as

A computer vision system for navigation of ground vehicles: Hardware and software

  • A. G. Bukin
  • A. S. Lychagov
  • R. N. Sadekov
  • O. A. Slavin
Article
  • 76 Downloads

Abstract

Computer vision hardware and software for navigation and mapping are discussed. The system includes two video cameras. The main features of the software used for calculation and visualization of the library are described in sufficient detail. A method for calibration of a computer vision system using a pair of images with several calibration patterns is presented. The testing equipment for estimation of accuracy in determining navigation parameters with the computer vision system is considered. The results are discussed.

Keywords

GNSS Ground Vehicle Computer Vision System Intelligent Vehicle Visual Odometry 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Brubaker, M.A., Geiger, A., and Urtasun, R., Lost! Leveraging the crowd for probabilistic visual self-localization, CVPR, IEEE Conference, 2013, pp. 3057–3064.Google Scholar
  2. 2.
    Nagappa, S., Palomeras, N. et al., Single cluster PHD SLAM: Application to autonomous underwater vehicles using stereo vision, OCEANS, Bergen, 2013, MTS/IEEE, pp. 1–9.Google Scholar
  3. 3.
    Daobin, W., Huawei, L. et al., Lidar Scan matching EKF-SLAM using the differential model of vehicle motion, Intelligent Vehicles Symposium (IV), 2013, pp. 908–912.Google Scholar
  4. 4.
    Forsyth, D.A. and Ponce, J., Computer Vision: A Modern Approach, Second edition, Pearson Education, Prentice Hall, 2012.Google Scholar
  5. 5.
    Shapiro, L.G. and Stochman, G.C., Computer Vision, Prentice Hall, 2001.Google Scholar
  6. 6.
    Geiger, A., Lategahn, H., and Kitt, B., Visual odometry based on stereo image sequences with RANSAC-based outlier rejection scheme, Intelligent Vehicles Symposium (IV), 2010 IEEE, 2010, pp. 486–492.Google Scholar
  7. 7.
    Nister, D., Naroditsky, O., and Bergen, J., Visual odometry, CVPR, vol.1, 2004, pp. I652–I659.Google Scholar
  8. 8.
    Nedevschi, S., Popescu, V., Danescu, R., Tiberiu, M., and Oniga, F., Accurate ego-vehicle global localization at intersections through alignment of visual data with digital map, IEEE Transactions on Intelligent Transportation Systems, 2013, pp. 673–687.Google Scholar
  9. 9.
    Young-Woo, S. and Ragunathan, R., A vision system for detecting and tracking of stop-line, 2014 IEEE 17th International Conference on Intelligent Transportation Systems (ITSC), 2014, pp.1970–1975.Google Scholar
  10. 10.
    Geiger, A., Ziegler, J., and Stiller, C., StereoScan: Dense 3D reconstruction in real-time, Intelligent Vehicles Symposium (IV), 2011 IEEE, 2011, pp. 963–968.Google Scholar
  11. 11.
    Donghwa, L., Hyongjin, K., and Hyun, M., GPUbased real-time RGB-D 3D SLAM, 9th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2012, pp. 46–48.Google Scholar
  12. 12.
    OpenCV: Main page, http://opencv.orgGoogle Scholar
  13. 13.
    Mobile Robot Programming Toolkit, http://www.mrpt.orgGoogle Scholar
  14. 14.
    Robot Operation System/Main page, http://www.ros.orgGoogle Scholar
  15. 15.
    LIBVISO2:C++ Library for Visual Odometry/Main page, http://cvlibs.net/software/libvisoGoogle Scholar
  16. 16.
    LIBELAS:C++ Library for Efficient Large-scale Stereo Matching/Main page, http://cvlibs.net/software/libelasGoogle Scholar
  17. 17.
    The KITTI Vision Benchmark Suite. Dataset/Main page, http://www.cvlibs.net/datasets/kittiGoogle Scholar
  18. 18.
    PCL: Point Clouds Library/Main page, http://pointclouds.orgGoogle Scholar
  19. 19.
    Bradski, G. and Kaehler, A., Learning OpenCV, ISBN: 978-0-596-51613-0, 2008.Google Scholar
  20. 20.
    Zhang, Zh., A flexible new technique for camera calibration, IEEE Trans. on Pattern Analysis and Machine Intelligence, 2000, 22(11), pp. 1330–1334.CrossRefGoogle Scholar
  21. 21.
    OpenCV stereo example/Main page, https://github.com/Itseez/opencv/blob/master/samples/cpp/stereo_calib.cppGoogle Scholar
  22. 22.
    Camera Calibration Toolbox for Matlab/Main page, http://vision.caltech.edu/bouguetj/calib_doc.Google Scholar
  23. 23.
    GML C++ Camera Calibration Toolbox/Main page, http://graphics.cs.msu.ru/ru/research/projectsGoogle Scholar
  24. 24.
    Camera and Range Sensor Calibration Toolbox/Main page, http://cvlibs.net /software/calibrationGoogle Scholar
  25. 25.
    LIBCBDETECT: Corner and Checkerboard Detection/Main page, http://www.cvlibs.net/software/libcbdetectGoogle Scholar

Copyright information

© Pleiades Publishing, Ltd. 2016

Authors and Affiliations

  • A. G. Bukin
    • 1
  • A. S. Lychagov
    • 2
  • R. N. Sadekov
    • 1
  • O. A. Slavin
    • 3
  1. 1.Institute of Engineering PhysicsSerpukhovRussia
  2. 2.Peter the Great Military Academy of Strategic Missile Forces, Branch in SerpukhovSerpukhovRussia
  3. 3.Cognitive TechnologiesMoscowRussia

Personalised recommendations