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- Title
A Fast Positioning Method for Docking Vehicles in Mixed Traffic Scenarios.
- Authors
Yi Xu; Jinxin Yu; Lei Wang; Dong Guo; Shaohong Ding; Teng Sun; Juan Ni; Shuyue Shi; Xiangcun Kong; Song Gao; Yuqiong Wang
- Abstract
Positioning technology is one of the key steps of automatic docking. At present, vehicle docking technology is widely used in airport baggage cars, towing trailers and other fields, and the docking process is mostly done manually. In order to realize the automatic docking of vehicles in mixed scenes, this paper proposes a fast positioning method for docking vehicles in mixed traffic scenes. First, using the regression relationship between the template size in the camera's field of view and the actual distance, FFT template matching and threshold judgment methods are employed to locate, track, and match the template, as well as verify the threshold results, in order to achieve template long-distance positioning and ROI extraction. Then, based on the regression relationship between AprilTag pixels in the camera's field of view and actual distance, the experiment of AprilTag minimum recognition pixel is designed. Finally, the real-time pixels of AprilTag are calculated from the real-time ranging results, and compared with the minimum recognition pixel of AprilTag, it is judged whether the recognition conditions are met, so as to carry out the subsequent AprilTag positioning. The experimental results demonstrate that the method proposed in this paper can achieve rapid and accurate positioning of a target docking vehicle at a long distance, while reducing the mismatch rate. On this basis, by designing the identification conditions of AprilTag, the rapid identification and positioning of AprilTag is realized, which reduces the traversal time of the algorithm. The feasibility of this positioning method is verified by the attitude angle error experiment, which provides supporting conditions for the subsequent docking path planning and vehicle control.
- Subjects
PIXELS; TRACKING radar; DYNAMIC positioning systems; TOWING; CAMERAS; LUGGAGE; ALGORITHMS
- Publication
Engineering Letters, 2024, Vol 32, Issue 4, p768
- ISSN
1816-093X
- Publication type
Article