Image processing for the testbed vehicle navigation

The testbed vehicle navigation problem is discussed. It is assumed that vehicles move in the testbed plane. For tracking the vehicles a camera is located above the testbed. Each vehicle has a few Light Emitting Diodes (LEDs) mounted on its body. The LEDsform special pattern which is unique for each vehicle. The following problems are considered in the paper: the recognition of the LEDs patterns in image; the calibration of the deflected camera with non-linear distortion and without it; the vehicle position and orientation determination using the LED-pattern.