NDLI: Road and relative ego-state recognition

Content Provider	IEEE Xplore Digital Library
Author	Behringer, R. V. Holt, V. Dickmanns, D.
Copyright Year	1992
Description	Author affiliation: Universitat der Bundeswehr Munchen, Neubiberg, Germany (Behringer, R.; V. Holt, V.; Dickmanns, D.)
Abstract	A road interpretation module is presented, which is part of a real-time vehicle guidance system for autonomous driving. Based on bifocal computer vision, the complete system is able to drive a vehicle on marked or unmarked roads, to detect obstacle, and to react appropriately. The hardware is a network of 23 transputers, organized in modular clusters. Parallel modules performing image analysis, feature extraction, object modelling, sensor data integration and vehicle control, are organized in hierarchical levels. The road interpretation module is based on the principle of recursive state estimation by Kalman filter techniques. Internal 4D-models of road, vehicle position, and orientation are updated by data, gained by the image-processing module. The system has been implemented on two vehicles (VITA and VaMoRs) and demonstrated in the framework of PROMETHEUS, where the ability of autonomous driving through narrow curves (radius
Starting Page	385
Ending Page	390
File Size	675348
Page Count	6
File Format	PDF
ISBN	078030747X
DOI	10.1109/IVS.1992.252270
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1992-06-29
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Remotely operated vehicles Road vehicles Vehicle driving Mobile robots Real time systems Navigation Computer vision Drives Vehicle detection Hardware
Content Type	Text
Resource Type	Article

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