Indoor Navigation of Autonomous Land Vehicle

[[abstract]]In this paper, the guidance of an autonomous land vehicle (ALV) using vanishing point concept is presented. The concept is to keep the pan angle equal to zero (assume the camera optical axis are parallel with ALV). Before the actual navigation takes place, it is very important to calibrate the camera parameters, especially intrinsic parameters, which are very useful when one wants to guide the vehicle according to some specific navigation rules. The proposed algorithm for camera intrinsic parameters is to take multiple images and use LS concept to obtain the intrinsic parameters simultaneously. And for the locating of the vanishing points a WLS method is proposed. Two methods for the determination of the vanishing line are also proposed. Finally, the pan angle can be obtained from the intersection of the vanishing line and the baselines.[[fileno]]2030101030059[[department]]電機工程學