×

Unmanned vehicle control system with guide line detection

  • US 5,087,969 A
  • Filed: 07/19/1990
  • Issued: 02/11/1992
  • Est. Priority Date: 07/20/1989
  • Status: Expired due to Term
First Claim
Patent Images

1. A system for controlling an unmanned vehicle by detection of a guide line based on a picture image picked up by a camera on said vehicle, said system comprising:

  • parameter (ρ

    , θ

    ) deriving means for deriving parameters (ρ

    , θ

    ) of a point extracted from a picture image picked up by a camera; and

    maximum density parameter detection means for integrating the densities of parameters derived by said parameter deriving means and determining the maximum density parameter from the integrated densities of the parameters;

    the maximum density parameter being determined from the parameter derived by said parameter deriving means for the parameter area having at the center thereof the parameter estimated from the maximum density parameter;

    said detected maximum density parameter being decided as the parameter of said guide line.

View all claims
  • 1 Assignment
Timeline View
Assignment View
    ×
    ×