25 August 2010 Dual-image guidance system for autonomous vehicle on fast focusing and RGB similarity operation
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Abstract
We have developed the dual camera image guidance system for autonomous vehicle based on the fast focusing and the spot RGB spectrum similarity operation. The fast focusing catches the distance information of outside world as a whole. The spot RGB spectrum similarity operation finds the object surface portion in the image. Our fast focusing algorithm works precisely on the differential image such as the Daubechies wavelet transformed high pass image, the Roberts image, Prewitt image, Sobel image and the Laplacian image. The spot RGB spectrum similarity operation for the surface detection comes from the idea of the laser range finder. The illuminated coherent laser reflects on the object surface and the reflected laser is detected on the spectrum band detector. The RGB spectrum distribution on the selected spot on one camera can give the expected similar spectrum information on the position-matched spot on another camera if the selected spot corresponds to the surface of the object. We move the autonomous vehicle based on the distance detection and the surface detection of the outside world due to the controlled dual color camera system. Our autonomous vehicle is equipped with the controllable independent four wheels drive. This vehicle can avoid the object geometrically even if it is just in front of the object. We mount the dual camera image guidance system on two axes jimbal system to aim the object in space.
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Akira Akiyama, Akira Akiyama, Nobuaki Kobayashi, Nobuaki Kobayashi, Eiichiro Mutoh, Eiichiro Mutoh, Hideo Kumagai, Hideo Kumagai, Hirofumi Yamada, Hirofumi Yamada, Hiromitsu Ishii, Hiromitsu Ishii, } "Dual-image guidance system for autonomous vehicle on fast focusing and RGB similarity operation", Proc. SPIE 7787, Novel Optical Systems Design and Optimization XIII, 77870E (25 August 2010); doi: 10.1117/12.860286; https://doi.org/10.1117/12.860286
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