Construction of a Machine Guide Dog Using a Two-Mirror Omni-camera and an Autonomous Vehicle

Chih Wei Huang*, Wen-Hsiang Tsai

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review


A system for use as a machine guide dog composed of an autonomous vehicle and a two-mirror omni-camera for navigations on sidewalks to guide blind people is proposed. Methods for extracting 3D information from acquired omni-images to localize the vehicle using landmarks of curb lines, tree trunks, stop lines on roads, lawn corners, signboards, and traffic cones are proposed. The methods are based on a space-mapping scheme and three new space line detection techniques. Each space line detection technique can be applied directly on omni-images to compute the 3D locations of a specific type of space line in the landmark shapes. Good experimental results show the feasibility of the proposed system.

Original languageEnglish
Title of host publicationAdvances in Intelligent Systems and Applications - Volume 2
Subtitle of host publicationProceedings of the International Computer
EditorsChang Ruay-Shiung, Peng Sheng-Lung, Lin Chia-Chen
Number of pages15
StatePublished - 28 Jun 2013

Publication series

NameSmart Innovation, Systems and Technologies
ISSN (Print)2190-3018
ISSN (Electronic)2190-3026


  • Autonomous vehicle
  • Landmark detection
  • Machine guide dog
  • Omni-images
  • Vehicle localization


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