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Volume: 32 | Article ID: art00022
Active Stereo Vision for Precise Autonomous Vehicle Control
  DOI :  10.2352/ISSN.2470-1173.2020.16.AVM-258  Published OnlineJanuary 2020

This paper describes the development of a low-cost, lowpower, accurate sensor designed for precise, feedback control of an autonomous vehicle to a hitch. The solution that has been developed uses an active stereo vision system, combining classical stereo vision with a low cost, low power laser speckle projection system, which solves the correspondence problem experienced by classic stereo vision sensors. A third camera is added to the sensor for texture mapping. A model test of the hitching problem was developed using an RC car and a target to represent a hitch. A control system is implemented to precisely control the vehicle to the hitch. The system can successfully control the vehicle from within 35° of perpendicular to the hitch, to a final position with an overall standard deviation of 3.0 m m of lateral error and 1.5° of angular error.

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Michael Feller, Jae-Sang Hyun, Song Zhang, "Active Stereo Vision for Precise Autonomous Vehicle Controlin Proc. IS&T Int’l. Symp. on Electronic Imaging: Autonomous Vehicles and Machines,  2020,  pp 258-1 - 258-6,

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