The vision system proposed here is able to find a tag at different distances and angles, and it outputs information about distance and lateral offset of the tag with respect to the camera. The main characteristic of this system is its ability to work at a wide range of distances and angles around the vertical axis, while keeping the number of computations per pixel in the image relatively low. If desired, stricter constraints can be added to the final set of selected and organized points to increase the robustness of the algorithm. Measurements of distance to the camera and lateral offset of the tag with respect to the camera are obtained, with accuracy ranging from less than 2% to 10%. The system was implemented on a Pentium III 450 MHz platform and has a data rate of 30Hz. The system was tested in the OSU autonomous vehicle, during ITS Demo '99. The demo took place on July 26 to 28, at the test track of the Transportation Research Center (TRC) in East Liberty, Ohio. With the tag attached to a leading car, and using only our system to get information about distance and lateral offset, we performed vision based convoying at speeds up to 55 mph


  • English

Media Info

  • Pagination: 10 p.

Subject/Index Terms

Filing Info

  • Accession Number: 00796717
  • Record Type: Publication
  • Source Agency: UC Berkeley Transportation Library
  • Files: PATH
  • Created Date: Aug 17 2000 12:00AM