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
Vision-based vehicle guidance
Massimo Bertozzi,Alberto Broggi +1 more
TL;DR: This implementation of lane and obstacle detection for an autonomous, self-guided vehicle succeeds by tailoring vision and computational techniques to an affordable SIMD architecture using a geometrical transform called inverse perspective mapping (IPM).
Journal ArticleDOI
Magnetometer and differential carrier phase GPS-aided INS for advanced vehicle control
Yunchun Yang,Jay A. Farrell +1 more
TL;DR: A triple redundancy navigation system incorporating magnetometer, inertial, and carrier phase differential Global Positioning System (GPS) measurements that reliably demonstrated lateral vehicle control in the following situations: both GPS and magnetometer aiding the inertial navigation system (INS), GPS-aided INS, magnetometer aided-INS, and switching between GPS and Magnetometer aiding of the INS at random times.
Journal ArticleDOI
Lateral control strategy for autonomous steering of Ackerman-like vehicles
TL;DR: A lateral control strategy that has been applied to the problem of steering an autonomous vehicle using vision is presented, analytically proved, and experimentally tested by autonomously steering Babieca, a Citroen Berlingo prototype vehicle.
Journal ArticleDOI
Three-dimensional motion and structure estimation using inertial sensors and computer vision for augmented reality
TL;DR: A new method for registration in augmented reality (AR) was developed that simultaneously tracks the position, orientation, and motion of the user's head, as well as estimating the three-dimensional (3D) structure of the scene.
Proceedings ArticleDOI
Vision-based lateral control of vehicles
TL;DR: The problem of automated steering using computer vision is described, focusing the analysis and design on appropriate lateral controllers, and the role of lookahead, its relation to the vision processing delay, the longitudinal velocity and road geometry is explored.
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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