In this paper we propose a kinematic approach for tracked mobile robots in order to improve motion control and pose estimation. Complex dynamics due to slippage and track–soil interactions make it difficult to predict the exact motion of the vehicle on the basis of track velocities. Nevertheless, real-time computations for autonomous navigation require an effective kinematics approximation with...

In this paper the problem of stabilizing a wheeled vehicle of unicycle type to a set point, using only visual feedback, is considered. The practically most relevant problem of keeping the tracked features in sight of the camera while maneuvering to park the vehicle is taken into account. This constraint, often neglected in the literature, combines with the nonholonomic nature of the vehicle kin...

This paper presents a novel velocity estimation method for ground vehicles. The task here is to automatically estimate vehicle speed from video sequences acquired with a fixed mounted camera. The vehicle motion is detected and tracked along the frames using optical flow algorithm. The distance traveled by the vehicle is calculated using the movement of the centroid over the frames and the speed...

In this paper, we proposed a novel method for visible vehicle tracking in traffic video sequence using model based strategy combined with spatial local features. Our tracking algorithm consists of two components: vehicle detection and vehicle tracking. In the detection step, we subtract the background and obtained candidate foreground objects represented as foreground mask. After obtaining fore...

This paper presents a solution algorithm for the real-time operation of vision-based preceding vehicle detection systems. The algorithm contains two main components: vehicle detection, and vehicle tracking. Vehicle detection is achieved by using vehicle shadow features to define a region of interest (ROI). The methods such as histogram equalization, ROI entropy and mean of edge image, are adopt...