| dc.description.abstract | We can greatly improve convenience for a vast area of navigation, transportation of goods, or the disable through an automatic vehicle following the guide’s trajectory. This study can reduce the burden of many users by an autonomous system control. In addition to automatic vehicle, the system requires only a monocular camera and a computer to complete the automatic vehicle following guide’s trajectory. The whole system is divided into four parts, including guide detection, guide tracing, estimation of the distance and direction of the guide and automatic vehicle control.
The first part is the guide detection by the features of Histogram of Oriented Gradients and then determining the possible guide objects via Support Vector Machine. The second part is guide tracking which identifies the most likely guide by matching the histogram of color. In the third part, we determine the relationship between the guide and the automatic vehicle and compute the distance and direction of the guide with the known height of the camera. The fourth part is the automatic vehicle control, based on the relative relationship between guide and automatic vehicle we determine automatic vehicle’s speed and direction. The controlled automatic vehicle keeps the guide two meters ahead in order to spare a buffer that allows the communication and avoid collision of the guide and the vehicle.
The automatic vehicle in our study is Wu′s Tech electric wheelchair Mambo 513; using a Logitech’s QuickCam ® Sphere AF PTZ color camera detects in front of the environment. On Intel® Core™ i7-3740QM 2.70GHz PC 4GB RAM and executed up to 6-15 per second processing speed of the frame. Using a variety of environmental conditions in 3580 frames, the correction rate of the guide detection is 88%, the correction rate of guide tracing is 91%, and the error rate for distance estimation between guide and automatic vehicle is 12%. In this study, we get the trajectory reproduce goal by only one PTZ camera.
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