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首页> 外文期刊>Journal of Robotic Systems >Smooth Vision-Based Autonomous Land Vehicle Navigation in Indoor Environments by Person Following Using Sequential Pattern Recognition
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Smooth Vision-Based Autonomous Land Vehicle Navigation in Indoor Environments by Person Following Using Sequential Pattern Recognition

机译：基于序列模式识别的人在室内环境下基于视觉的自动自主陆地车辆导航

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摘要

A new approach to autonomous land vehicle (ALV) navigation by the person following is proposed. This approach is based on sequential pattern recognition and computer vision techniques, and maintenance of smoothness for indoor navigation is the main goal. The ALV is guided automatically to follow a person who walks in front of the vehicle. The vehicle can be used as an autonomous handcart, go-cart, buffet car, golf cart, weeder, etc. in various applications. Sequential pattern recognition is used to design a classifier for making decisions about whether the person in front of the vehicle is walking straight or is too right or too left of the vehicle. Multiple images in a sequence are used as input to the system. Computer vision techniques are used to detect and locate the person in front of the vehicle. By sequential pattern recognition, the relation between the location of the person and that of the vehicle is categorized into three classes. Corresponding adjustments of the direction of the vehicle are computed to achieve smooth navigation. The approach is implemented on a real ALV, and successful and smooth navigation sessions confirm the feasibility of the approach.
机译：提出了一种由以下人员进行自主陆地车辆（ALV）导航的新方法。这种方法基于顺序模式识别和计算机视觉技术，并且维持室内导航的平滑度是主要目标。自动引导ALV跟随跟随在车辆前方的人。该车辆可以在各种应用中用作自动手推车，购物车，自助餐车，高尔夫球车，除草机等。顺序模式识别用于设计分类器，以做出关于车辆前方的人是直走还是车辆太右或太左的决策。序列中的多个图像用作系统的输入。计算机视觉技术用于检测和定位车辆前方的人员。通过顺序模式识别，将人的位置与车辆的位置之间的关系分为三类。计算车辆方向的相应调整以实现平稳导航。该方法是在真实的ALV上实现的，成功且流畅的导航会话证实了该方法的可行性。

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