Abstract
This paper presents an embedded omni-vision navigation system which involves landmark recognition, multi-object tracking, and vehicle localization. A new tracking algorithm, the feature matching embedded particle filter, is proposed. Landmark recognition is used to provide the front-end targets. A global localization method for omni-vision based on coordinate transformation is also proposed. The digital signal processor (DSP) provides a hardware platform for on-board tracker. Dynamic navigator employs DSP tracker to follow the landmarks in real time during the arbitrary movement of the vehicle and computes the position for localization based on time sequence images analysis. Experimental results demonstrated that the navigator can efficiently offer the vehicle guidance.
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