Autonomous Land Vehicle Localization based on Video Compass

摘要

The autonomous land vehicle localization is crucial for navigation,local path planning and position control in urban environments.The Video Compass method is proposed for autonomous land vehicle in this paper.First,the lane marking information from monocular camera is extracted.Second,the change of vanishing point is calculated from the lane markings.Third,with the above two conditions the autonomous land vehicle absolute direction could be deduced.This is the technique of the Video Compass proposed in this paper.Finally,the localization is calculated by the Video Compass and the wheel encoder.The algorithm presented in this paper is proved to be both robust and fast by experiments.