Position measurement of reference fluorescent lamps on the ceiling for autonomous vehicle navigation

摘要

This paper describes a method of the position measurement of ceiling fluorescent lamps that are reference points to measure vehicle positions for autonomous navigation. The principle of the present method is basically the motion stereo that makes use of the vehicle itself and has an advantage that it works even when orientation of a camera is unknown. We can also obtain the vehicle traveling routes while positions of fluorescent lamps are measured.