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
Annealed Particle Filter Algorithm Used for Lane Detection and Tracking
TL;DR: A robust lane model is built which can be applied to not only the linear road but also the curved road and is effective for lane detection and tracking.
Journal ArticleDOI
Developing the Sense of Vision for Autonomous Road Vehicles at UniBwM
TL;DR: Researchers at Bundeswehr University Munich are investigating “scout-type” vision for autonomous cars, which—unlike popular systems in use now—does not rely on accurate maps, GPS positioning, or databases of previously observed objects.
Journal ArticleDOI
3D Road Reconstruction from a Single View
TL;DR: A new algorithm is presented for the local 3D reconstruction of a road from its image plane boundaries that computes the position in 3D space of the road cross segment that has one of the two points as its end point.
Proceedings ArticleDOI
Vehicle Lateral Position Estimation Method Based on Matching of Top-View Images
TL;DR: The proposed method does not rely on extraction of features such as lines, flow vectors or lane markers, but based on matching of warped top-view images between two consecutive frames, means vehicle movement can be estimated even from images without such explicit image features or without special sensors or GPS.
Proceedings ArticleDOI
A Framework for Visual Position Estimation for Motor Vehicles
Andrew Rae,Otman A. Basir +1 more
TL;DR: Simulation results provide a visual illustration of the theoretical finding that uncertainty in vehicle position is reduced by the observation of features changing continuously with vehicle position.
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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