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
Estimations of previewed road curvatures and vehicular motion by a vision-based data fusion scheme
TL;DR: A new framework of vision-based estimation is developed using some data fusion schemes to obtain previewed road curvatures and vehicular motion states based on the scene viewed from an in-vehicle camera to enhance the accuracy of estimation.
Journal ArticleDOI
Long-Range Road Geometry Estimation Using Moving Vehicles and Roadside Observations
TL;DR: An algorithm for estimating the shape of the road ahead of a host vehicle equipped with the following onboard sensors: a camera, a radar, and vehicle internal sensors is presented.
Book ChapterDOI
Autonomous Road Vehicle Guidance in Normal Traffic
F. Thomanek,Ernst D. Dickmanns +1 more
TL;DR: A passenger car Mercedes 500 SEL has been equipped with the sense of vision in the framework of the EUREKA-project ‘Prometheus III’ and system integration follows the well proven paradigm of orientation towards 4D physical objects and expectations with prediction error feedback.
Patent
Method and apparatus for estimation of forward path geometry of a vehicle based on a two-clothoid road model
TL;DR: In this article, a two-clothoid road model is used to estimate the forward path geometry of a vehicle based on a camera or a radar system, and a full measurement transfer function of the two-clothoid model is computed.
Journal ArticleDOI
A robotic system for road lane painting
TL;DR: In this paper, a robot structure that can be easily installed on a commercial truck and image processing algorithms that can recognize deteriorated lane marks was designed to track the existing faded lane mark and performing re-painting operations on-site.
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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