Vision-Based Environmental Perception and Navigation of Micro-Intelligent Vehicles

  • Ming Yang
  • Zhengchen Lu
  • Lindong Guo
  • Bing Wang
  • Chunxiang Wang
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 213)


The adjustment of actual environmental traffic flow experiments is complicated and time-consuming. In this paper, a method based on micro-intelligent vehicles (micro-IV) is proposed to overcome these unfavorable factors. Vision-based environmental perception employed should be qualified for real-time and robust characteristics. An active vision approach based on visual selective attention is carried out to search regions of interest more efficiently for traffic light recognition. Corner detection based on histogram is applied for real-time location in autonomous parking. A method based on hierarchical topology maps is proposed to realize the navigation without GPS equipment. Experimental results show that the perception and navigation approaches work efficiently and effectively and micro-IV is suitable for traffic flow experiments.


Micro-intelligent vehicles Traffic flow simulation Traffic light recognition Autonomous parking 



This work was supported by the Major Research Plan of National Natural Science Foundation (91120018/91120002), the General Program of National Natural Science Foundation of China (61174178/51178268), and National High-tech R&D 863 Program (2011AA040901).


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Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Ming Yang
    • 1
  • Zhengchen Lu
    • 1
  • Lindong Guo
    • 1
  • Bing Wang
    • 1
  • Chunxiang Wang
    • 2
  1. 1.Department of AutomationShanghai Jiao Tong University, and Key Laboratory of System Control and Information Processing, Ministry of Education of ChinaShanghaiChina
  2. 2.Research Institute of RoboticsShanghai Jiao Tong UniversityShanghaiChina

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