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Vision based navigation and guidance system

  • US 7,881,497 B2
  • Filed: 03/08/2007
  • Issued: 02/01/2011
  • Est. Priority Date: 03/08/2007
  • Status: Expired due to Fees
First Claim
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1. A method of controlling an autonomous vehicle, the method comprising:

  • capturing image frames at a predetermined frame rate;

    detecting image points that define an edge in each image frame, wherein a curvature of the edge changes between at least two image frames;

    fusing image points in each image frame to locate a determined edge;

    dynamically predicting the location of image points that define an edge in a subsequent image frame;

    using the prediction of the location of image points that define an edge to narrow the search area for the edge in the subsequent image frame;

    determining offset distances between determined edges in sequential image frames; and

    controlling the vehicle based at least in part on determined offset distances between determined edges in sequential image frames.

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