Abstract
This paper suggests a method of detecting an orientation and relative position of home vehicle such as an auto-wheel chair, based on a connected lines between the ceiling board. The USB camera equipped on the auto-wheelchair was faced upward to take a ceiling image. The ceiling image was transrated to the binay image using a threshold which was changed by the surrounding brightness. Next, the labeling procedure was applied to the binary image and small areas were eliminated to detect the ceiling lines. Forward and side directional lines were utilized for an orientation and relative position of an auto-wheel chair. In the test operation, the auto-wheel chair could be driven, based on the odometry of the ceiling cross lines.
