Journal ArticleDOI
Recursive 3-D road and relative ego-state recognition
E.D. Dickmanns,B.D. Mysliwetz +1 more
TLDR
The general problem of recognizing both horizontal and vertical road curvature parameters while driving along the road has been solved recursively and a differential geometry representation decoupled for the two curvature components has been selected.Abstract:
The general problem of recognizing both horizontal and vertical road curvature parameters while driving along the road has been solved recursively. A differential geometry representation decoupled for the two curvature components has been selected. Based on the planar solution of E.D. Dickmanns and A. Zapp (1986) and its refinements, a simple spatio-temporal model of the driving process makes it possible to take both spatial and temporal constraints into account effectively. The estimation process determines nine road and vehicle state parameters recursively at 25 Hz (40 ms) using four Intel 80286 and one 386 microprocessors. Results with the test vehicle (VaMoRs), which is a 5-ton van, are given for a hilly country road. >read more
Citations
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Journal ArticleDOI
Harvesting System for Autonomous Robotic in Agriculture: A Review.
TL;DR: There are two important development components for autonomous harvesting: Machine vision for detecting the crops and guiding the robot through the field and the second component actuator to grab or picking the crops or fruits.
Posted Content
Vehicle Ego-Lane Estimation with Sensor Failure Modeling
Augusto Luis Ballardini,Daniele Cattaneo,R. Izquierdo,Ignacio Parra Alonso,Andrea Piazzoni,Miguel Angel Sotelo,Domenico G. Sorrenti +6 more
TL;DR: A probabilistic ego-lane estimation algorithm for highway-like scenarios that is designed to increase the accuracy of the ego- lane estimate, which can be obtained relying only on a noisy line detector and tracker with a transient failure model.
Proceedings ArticleDOI
Accurate forward road geometry estimation for collision warning applications
TL;DR: A new model and method for accurate estimation of forward path geometry of an automobile modeled by two contiguous clothoid segments with different geometries, but continuous curvature across the transition between them, which results in a closed-form parametric expression of the same polynomial order as previous models.
Proceedings ArticleDOI
Recursive surface structure recognition for safe navigation
TL;DR: For the more general case of a surface with relatively high spatial frequencies an approach for real-time recognition is proposed which separates low, medium and high spatial frequency components; these components are estimated in a sequential, iteratively parallel manner.
Journal ArticleDOI
Road geometry estimation using vehicle trails: a linear mixed model approach
TL;DR: An estimation algorithm for the shape of the road using trails of leading vehicles via a linear mixed model (LMM) approach is proposed.
References
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Journal ArticleDOI
Estimation of Object Motion Parameters from Noisy Images
Ted J. Broida,Rama Chellappa +1 more
TL;DR: An approach is presented for the estimation of object motion parameters based on a sequence of noisy images that may be of use in situations where it is difficult to resolve large numbers of object match points, but relatively long sequences of images are available.
Journal ArticleDOI
Dynamic monocular machine vision
Ernst D. Dickmanns,Volker Graefe +1 more
TL;DR: A new approach to real-time machine vision in dynamic scenes is presented based on special hardware and methods for feature extraction and information processing using integral spatio-temporal models that by-passes the nonunique inversion of the perspective projection by applying recursive least squares filtering.
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