Visual odometry and traffic sign recognition modules for an intelligent vehicle | |
| Author | Thu Yein Win |
| Call Number | AIT Thesis no.CS-09-12 |
| Subject(s) | Traffic sign and signals Electronic traffic controls |
| Note | A thesis submitted in partial ful llment of the requirements for the degree of Master of Science in Computer Science, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. CS-09-12 |
| Abstract | Unmanned Ground Vehicles, or Intelligent Vehicles as they are known, are vehicles that can drive without the need for human interaction. A lot of research work has been done in this branch of robotics in recent years, the most famous one being the DARPA challenge. Using sensors such as laser, Global Positioning System ( GPS ) and cameras, intelligent vehicles will process road information and act accordingly. Therefore, it is vital that the vehicles process information such as traffic signs and distance traveled as accurately as possible. This thesis addresses two issues regarding intelligent vehicles: traffic sign recognition and distance estimation. These two issues are addressed using a monocular camera as a sensor input. For traffic sign detection and recognition, I used the signs based on those used in the Thailand Intelligent Vehicle Challenge organized by the Thai Robotics Society( TRS ). Signs are detected based on their physical properties and template matching is used for sign recognition. Visual odometry is used for distance estimation. Visual odometry is essential the estimation of distance traveled based on feature displacements in two images taken at different points in time. The camera projection matrix P is obtained using Random Sampling And Consensus( RANSAC ) and distance estimation is calculated using homography decomposition. |
| Year | 2009 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. CS-09-12 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Information and Communications Technologies (DICT) |
| Academic Program/FoS | Computer Science (CS) |
| Chairperson(s) | Dailey, Matthew N. |
| Examination Committee(s) | Guha, Sumanta;Manukid Parnichkun |
| Scholarship Donor(s) | Asian Institute of Technology Fellowship |
| Degree | Thesis (M.Sc.) - Asian Institute of Technology, 2009 |