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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Patent
Driver assistance system for vehicle
TL;DR: In this article, a driver assistance system for a vehicle includes an imaging device disposed at an exterior portion of a vehicle, with the imaging device having a field-of-view at least one of rearward of the vehicle and sideward of vehicle.
Proceedings ArticleDOI
Robust lane detection in urban environments
TL;DR: Through experimentations, it is shown that a clustered particle filter can be used to efficiently extract lane markings and a quality measure for the detection is calculated as a measure of reliability.
Proceedings ArticleDOI
Simultaneous estimation of pitch angle and lane width from the video image of a marked road
R. Behringer,S. Hotzl +1 more
TL;DR: An approach for simultaneous estimation of pitch angle and lane width from the road image is presented, both based on Kalman filtering, and validated by numerical simulations.
Journal ArticleDOI
The YARF system for vision-based road following
K. Kluge,Charles E. Thorpe +1 more
TL;DR: Experimental results are presented showing the benefit of using multiple specialized image segmentation techniques, the advantages of using Least Median Squares estimation in situations where there are outliers in the data, and the ability of YARF to detect intersections and changes in lane structure based on the failure to see expected features in the image.
Journal ArticleDOI
Perception, planning, and control for autonomous walking with the Ambler planetary rover
Eric Krotkov,Reid Simmons +1 more
TL;DR: An integrated software system that combines perception, planning, real-time control, and task-level control to navigate autonomously the Ambler, a six-legged rover is described.
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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