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Visual odometry and traffic sign recognition modules for an intelligent vehicle

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dc.contributor.advisor Dailey, Matthew N. (Chairperson) en_US
dc.contributor.author Thu Yein Win en_US
dc.date.accessioned 2015-01-12T10:41:07Z
dc.date.available 2015-01-12T10:41:07Z
dc.date.issued 2009-05 en_US
dc.identifier.other AIT Thesis no.CS-09-12 en_US
dc.identifier.uri http://www.cs.ait.ac.th/xmlui/handle/123456789/374
dc.description 53 p. en_US
dc.description.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 tra c signs and distance traveled as accurately as possible. This thesis addresses two issues regarding intelligent vehicles: tra c sign recognition and distance estimation. These two issues are addressed using a monocular camera as a sensor input. For tra c 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 di erent points in time. The camera projection matrix P is obtained using Random Sampling And Consensus( RANSAC ) and distance estimation is calculated using homography decomposition. en_US
dc.description.sponsorship AIT Fellowship en_US
dc.language.iso en en_US
dc.publisher Asian Institute of Technology en_US
dc.relation.ispartofseries AIT Publications; en_US
dc.subject Traffic sign and signals en_US
dc.subject Electronic traffic controls en_US
dc.title Visual odometry and traffic sign recognition modules for an intelligent vehicle en_US
dc.type Thesis en_US

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