Active stereo-vision 3D perception system for precise autonomous vehicle hitching

被引:0
|
作者
Feller, Michael [1 ]
Hyun, Jae-Sang [1 ]
Zhang, Song [2 ]
机构
[1] Purdue Univ, Sch Mech Engn, W Lafayette, IN 47907 USA
[2] Purdue Univ, Fac Sch Mech Engn, W Lafayette, IN 47907 USA
关键词
D O I
暂无
中图分类号
TM [电工技术]; TN [电子技术、通信技术];
学科分类号
0808 ; 0809 ;
摘要
This paper presents a low-cost, low-power 3D optical sensor that is fully integrated for feedback control of an autonomous vehicle to a hitch. The hitching problem is an important challenge for vehicles in agricultural and transportation industries, yet few studies have been carried out in literature. We developed a perception system that combines low-accuracy classical stereo vision sensing with higher accuracy active sensing, as well as incorporating adaptive control strategies to tackle the hitching problem. We tested our proposed method on an RC car to approach a model hitch target. Our experiments demonstrated that our system can successfully control the vehicle from within +/- 35 of perpendicular to the hitch, to a final position with an overall standard deviation of 3.0 mm of lateral error and 1.5 of angular error.
引用
收藏
页码:717 / 722
页数:6
相关论文
共 50 条
  • [1] 3D vision: Developing an embedded stereo-vision system
    Woodfill, John Iselin
    Buck, Ron
    Jurasek, Dave
    Gordon, Gaile
    Brown, Terrance
    [J]. COMPUTER, 2007, 40 (05) : 106 - 108
  • [2] Estimation of 3D reconstruction errors in a stereo-vision system
    Belhaoua, A.
    Kohler, S.
    Hirsch, E.
    [J]. MODELING ASPECTS IN OPTICAL METROLOGY II, 2009, 7390
  • [3] An Approach for 3D Reconstruction of Environment Using Stereo-Vision System
    Shrivasthava, P.
    Vundavilli, P. R.
    Pratihar, D. K.
    [J]. IEEE REGION 10 COLLOQUIUM AND THIRD INTERNATIONAL CONFERENCE ON INDUSTRIAL AND INFORMATION SYSTEMS, VOLS 1 AND 2, 2008, : 145 - 151
  • [4] TELE-AUTONOMOUS ACTIVE STEREO-VISION HEAD
    Gasteratos, Antonios
    [J]. INTERNATIONAL JOURNAL OF OPTOMECHATRONICS, 2008, 2 (02) : 144 - 161
  • [5] Stereo-vision framework for autonomous vehicle guidance and collision avoidance
    Scott, D
    [J]. LOCATION SERVICES AND NAVIGATION TECHNOLOGIES, 2003, 5084 : 100 - 108
  • [6] REAL-TIME STEREO-VISION SYSTEM FOR 3D TELEIMMERSIVE COLLABORATION
    Vasudevan, Ram
    Zhou, Zhong
    Kurillo, Gregorij
    Lobaton, Edgar
    Bajcsy, Ruzena
    Nahrstedt, Klara
    [J]. 2010 IEEE INTERNATIONAL CONFERENCE ON MULTIMEDIA AND EXPO (ICME 2010), 2010, : 1208 - 1213
  • [7] Stereo-vision based 3D modeling of space structures
    Se, Stephen
    Jasiobedzki, Piotr
    Wildes, Richard
    [J]. SENSORS AND SYSTEMS FOR SPACE APPLICATIONS, 2007, 6555
  • [8] 3D Interaction in Augmented Reality with Stereo-Vision Technique
    Lee, Seonho
    Lim, Yeseul
    Chun, Junchul
    [J]. 2013 15TH INTERNATIONAL CONFERENCE ON ADVANCED COMMUNICATION TECHNOLOGY (ICACT), 2013, : 401 - 405
  • [9] Micro Air Vehicle Autonomous Obstacle Avoidance from Stereo-Vision
    Brockers, Roland
    Kuwata, Yoshiaki
    Weiss, Stephan
    Matthies, Larry
    [J]. UNMANNED SYSTEMS TECHNOLOGY XVI, 2014, 9084
  • [10] Photo-Model-Based Stereo-Vision 3D Perception for Marine Creatures Catching by ROV
    Tian, Hongzhi
    Kou, Yejun
    Kawakami, Takuro
    Takahashi, Renya
    Minami, Mamoru
    [J]. OCEANS 2019 MTS/IEEE SEATTLE, 2019,