CORRELACIÓN DE FASE APLICADA A LA NAVEGACIÓN DE VEHÍCULOS AUTÓNOMOS EN ENTORNOS TECHADOS (PHASE CORRELATION APPLIED TO AUTONOMOUS VEHICLE NAVIGATION IN ROOFED ENVIRONMENTS)
Resumen
En este artículo consideramos el problema de la navegación autónoma del vehículo AutoNOMOS-mini-V2 en entornos techados. Este vehículo carece de un sistema de posicionamiento global GPS, por lo que se evalúa la técnica de correlación de fase para estimar la posición con respecto a una secuencia de imágenes indexada y adquirida con la cámara de video rgb del vehículo que apunta hacia arriba, y se determinan las condiciones bajo las cuales la técnica funciona. La metodología propuesta se probó con imágenes de 3 diferentes techos, obteniéndose errores máximos de 5.8 cm y 1° en la estimación de desplazamientos y orientación, respectivamente. Los resultados obtenidos indican que el método propuesto es eficiente para techos con alturas mayor o igual a 3 m.
Palabras Clave: Guiado visual, Visión por computador, Odometría visual, Registro de imágenes.
Abstract
In this article we focus in the autonomous navigation of AutoNOMOS-mini-v2 vehicle in roofed environments. The vehicle does not have a GPS positioning system, so we evaluate the phase correlation technique to estimate its position using an indexed sequence of images acquired with the rgb camera pointing to the roof, we determine the conditions for the technique to work. Our proposed method was tested in images of 3 different roofs, getting maximum errors of 5.8 cm and 1º in the displacement and orientation respectively. Obtained results show that the proposed algorithm is efficient for roofs with heights equal or greater than 3 m.
Keywords: Visual guidance, Computer vision, Visual odometry, Image registration.
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