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:Â
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
More filters
Proceedings ArticleDOI
Real-time lane detection for autonomous vehicle
Seung Gweon Jeong,Chang Sup Kim,Dong Youp Lee,Sung Ki Ha,Dong Hwai Lee,Man Hyung Lee,Hideki Hashimoto +6 more
TL;DR: This paper aims to approximate more correctly the lane of an actual road by applying the least-mean square method with the fault-removed edge information for curve fitting.
Journal ArticleDOI
A general dynamic vision architecture for UGV and UAV
TL;DR: The modularity of the expectation-based 4D approach to dynamic machine vision exploiting integral spatiotemporal models of objects in the real world is demonstrated in a simulation set-up serving both the ground- and the air vehicle applications.
Book ChapterDOI
A lagrangian formulation of nonholonomic path following
TL;DR: In this paper, the authors address the problem of following an unknown planar contour with a nonholonomic vehicle based on visual feedback, where the control task is to keep a point of the vehicle as close as possible to the contour for a choice of norm.
Journal ArticleDOI
Effects of model complexity on the performance of automated vehicle steering controllers : controller development and evaluation
Dirk E. Smith,John M. Starkey +1 more
TL;DR: In this paper, the authors investigated the effects of vehicle and tire model order on the response of automated vehicles to an emergency step lane change using a controller based on linear vehicles and tire models.
Journal ArticleDOI
On-line road boundary modeling with multiple sensory features, flexible road model, and particle filter
Yoshiteru Matsushita,Jun Miura +1 more
TL;DR: In this paper, a method of robustly modeling road boundaries on-line for autonomous navigation has been proposed, which makes use of multiple features with the corresponding likelihood functions and keeps multiple road hypotheses as particles.
References
More filters
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.
Related Papers (5)
GOLD: a parallel real-time stereo vision system for generic obstacle and lane detection
Massimo Bertozzi,Alberto Broggi +1 more
Video-based lane estimation and tracking for driver assistance: survey, system, and evaluation
J.C. McCall,Mohan M. Trivedi +1 more