The physical corridor environment.

<p>The physical corridor environment.</p

Located pattern of the barcode feature frame C.

<p>Located pattern of the barcode feature frame C.</p

The original images collected at the three measurement points by the on-board cameras.

<p>(a) The images collected on left side at the measurement point (2,1); (b) The images collected on right side at the measurement point (2,1); (c) The images collected on left side at the measurement point (2.5,3.5); (d) The images collected on right side at the measurement point (2.5,3.5); (e) The images collected on left side at the measurement point (3.5,5.5); (f) The images collected on right side at the measurement point (3.5,5.5);</p

8 neighbor <i>N</i>₈(<i>p</i>) of pixel <i>p</i>(<i>i</i>, <i>j</i>).

<p>8 neighbor <i>N</i>₈(<i>p</i>) of pixel <i>p</i>(<i>i</i>, <i>j</i>).</p

Gray scale image <i>I</i>_<i>1</i>.

<p>Gray scale image <i>I</i>_<i>1</i>.</p

Projection model of the barcode tag feature frame C on the CMOS imaging plane.

<p>Projection model of the barcode tag feature frame C on the CMOS imaging plane.</p

Locating results of the patterns of barcode tag feature frame C.

<p>(a) Locating of the feature frame C patterns on left side at (2,1); (b) Locating of the feature frame C patterns on right side at (2,1); (c) Locating of the feature frame C patterns on left side at (2.5,3.5); (d) Locating of the feature frame C patterns on right side at (2.5,3.5); (e) Locating of the feature frame C patterns on left side at (3.5,5.5); (f) Locating of the feature frame C patterns on right side at (3.5,5.5);</p

Experiment topology in the curved tunnel.

<p>Experiment topology in the curved tunnel.</p

The original images captured by the on-board cameras at three of the measurement points.

<p>(a) The image captured at (1, -0.5) on the left side; (b) The image captured at (1, -0.5) on the right side; (c) The image captured at (0.5, 4.5) on the left side; (d) The image captured at (0.5, 4.5) on the right side; (e) The image captured at (1, 5) on the left side; (f) The image captured at (1, 5) on the right side;</p

Results of the plane coordinate localization of the vehicle center point <i>O</i> in a straight corridor.

<p>Results of the plane coordinate localization of the vehicle center point <i>O</i> in a straight corridor.</p