| Summary: | 碩士 === 國立臺北科技大學 === 機電整合研究所 === 96 === In this paper, we develop the system of autonomous land vehicles (ALV) by computer vision with artificial intelligent (AI) based on optical flow method. It makes ALV adapted to the complex environment. This system can verify the motion obstacle and estimate its movement, and then making path strategy to avoid collision.
Our algorithm of ALV has three parts, image capture system, static object analyzed system, and motion object detection system, respectively. We set ALV navigates at an outdoor environment automatically.
In computer vision analyzed, we present a method that use Lucas and Kanade''s Optical flow equation, then we obtain the optical flow map, by using three-dimension histogram (3-D histogram) to gather statistics of our moving object, checking our optical vectors group, separating the optical vectors of obstacle and background, and use morphological process to segment the moving object. We segment them and use first-order linear equation to calculate the relationship between ALV and the motion obstacle. At last, calculate the collision time between the moving object and ALV and makes strategy to avoid collision with obstacle.
Finally, our experiment shows the method avoiding collision with moving object efficiently when ALV moving on its way.
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