Vision based navigation and guidance system

摘要

A method of controlling an autonomous vehicle with a vision-based navigation and guidance system includes capturing image frames 501 at a predetermined frame rate, detecting image points that define an edge 506 in each image frame, dynamically predicting 510 the location of image points that define an edge in a subsequent image frame and using the prediction of the location of image points that define an edge to narrow the search area for the edge in the subsequent image frame. Offset distances W X between determined edges in sequential image frames are measured and the vehicle is controlled based at least in part on the measured offset distances.