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 for mobile robot navigation: a survey
TL;DR: The developments of the last 20 years in the area of vision for mobile robot navigation are surveyed and the cases of navigation using optical flows, using methods from the appearance-based paradigm, and by recognition of specific objects in the environment are discussed.
Journal ArticleDOI
GOLD: a parallel real-time stereo vision system for generic obstacle and lane detection
Massimo Bertozzi,Alberto Broggi +1 more
TL;DR: The generic obstacle and lane detection system (GOLD), a stereo vision-based hardware and software architecture to be used on moving vehicles to increment road safety, allows to detect both generic obstacles and the lane position in a structured environment at a rate of 10 Hz.
Journal ArticleDOI
Video-based lane estimation and tracking for driver assistance: survey, system, and evaluation
J.C. McCall,Mohan M. Trivedi +1 more
TL;DR: A comparison of a wide variety of methods, pointing out the similarities and differences between methods as well as when and where various methods are most useful, is presented.
Journal ArticleDOI
Three Decades of Driver Assistance Systems: Review and Future Perspectives
Klaus Bengler,Klaus Dietmayer,Berthold Färber,Markus Maurer,Christoph Stiller,Hermann Winner +5 more
TL;DR: This contribution provides a review of fundamental goals, development and future perspectives of driver assistance systems, and examines the progress incented by the use of exteroceptive sensors such as radar, video, or lidar in automated driving in urban traffic and in cooperative driving.
Journal ArticleDOI
Deep Multi-Modal Object Detection and Semantic Segmentation for Autonomous Driving: Datasets, Methods, and Challenges
Di Feng,Christian Haase-Schutz,Lars Rosenbaum,Heinz Hertlein,Claudius Gläser,Fabian Timm,Werner Wiesbeck,Klaus Dietmayer +7 more
TL;DR: In this article, the authors systematically summarize methodologies and discuss challenges for deep multi-modal object detection and semantic segmentation in autonomous driving and provide an overview of on-board sensors on test vehicles, open datasets, and background information for object detection.
References
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Journal ArticleDOI
Applications of dynamic monocular machine vision
Ernst D. Dickmanns,Volker Graefe +1 more
TL;DR: The 4-D approach to real-time machine vision presented in the companion paper (Dickmanns and Graefe 1988, this volume) is applied here to two problem areas of widespread interest in robotics.
Journal ArticleDOI
Visual tracking of known three-dimensional objects
TL;DR: The solution for object position and orientation is a weighted least-squares adjustment that includes filtering over time, which reduces the effects of errors, allows extrapolation over times of missing data, and allows the use of stereo information from multiple-camera images that are not coincident in time.
Journal ArticleDOI
Autonomous High Speed Road Vehicle Guidance by Computer Vision 1
Ernst D. Dickmanns,A. Zapp +1 more
TL;DR: In this paper, a visual feedback control system was developed which is able to guide road vehicles on well structured roads at high speeds by using contour correlation and curvature models together with the laws of perspective projection.
Journal ArticleDOI
An integrated spatio-temporal approach to automatic visual guidance of autonomous vehicles
TL;DR: The Kalman filter approach to recursive state estimation making use of dynamic models for the motion of massive objects has been extended to image sequence processing, and results are presented for road-vehicle guidance at high speeds including obstacle detection and monocular relative spatial state estimation.
Proceedings ArticleDOI
RAPID - a video rate object tracker.
Chris Harris,Carl Stennett +1 more
TL;DR: Three-dimensional (3D) Model-Based Vision enables observed image features to be used to determine the pose (ie. position and attitude) of a known 3D object with respect to the camera (or alternatively, the viewpoint of the camera withrespect to the model).
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