Research And Implementation Of Intelligent Car System For Navigation With Monocular Vision

Intelligent vehicle based on vision navigation is a part of visual servo. For a typical hand-eye visual servo system, this paper is doing research on rules of information mapping, system designing and implementation, application of visual navigation, experimental verification and analysis.Rules of information mapping:It extracts two special planes from navigation scene and corresponding rules of information mapping under the constraint of certain space. On the base of this it also proposes two distance methods on monocular vision.System designing and implementation:This part includes that designing and implementation of hardware system, software system and communication. The hardware part improves actuator of direction and speed adjusting. It realizes the hardware circuit in CPLD.The secondary development function of system is important to software part and the operational resource of main program is opened in the form of dynamic library interface.In the communication part, instruction format problem of intelligent car motion control in the communication between hardware and software is solved while the scalability of control object is guaranteed at the same time.Application of visual navigation:Analysis of visual servo flow carries out micro analysis on time and the design of PID control.The research about the range of camera imaging describes the available regional scene in precise mathematical form. Coordinate transformation relation provides a means of extracting the amounts of motion control from the image directly. Visual navigation method is focused on motion control methods with intelligent vehicle and how to construct the landmarks according to the relative position.Experimental verification and analysis:This paper is based on landmarks extraction and scene reconstruction, and applies the related technologies to the navigation experiment. Experiments show that the system runs stably in indoor and outdoor environments on condition of extracting landmarks properly, the offset according with the rules and parameters selecting reasonably.