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Proceedings Paper

Real-time visual control for an intelligent vehicle: the convoy problem
Author(s): Nasser Kehtarnavaz; Norman C. Griswold; J. K. Eem
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Paper Abstract

One of the goals of the development of vehicular systems for air, space, land and sea operations is the creation of autonomous behavior which is directed by intelligent processors. For intelligent vehicle systems the goal-directed autonomy includes convoy following. In this paper, the convoy problem is investigated as a real-time control problem, the prime input of which is a stereo vision sensing system. The general approach to maintaining a safe distance along with the calibration of the stereo system is discussed in this paper. The methodology merges intelligent real-time control with techniques developed to solve constituent problems in the system. Real-time system definitions are given as well as preliminary results of controlling an actual autonomous vehicle in real-time.

Paper Details

Date Published: 1 September 1990
PDF: 11 pages
Proc. SPIE 1295, Real-Time Image Processing II, (1 September 1990); doi: 10.1117/12.21241
Show Author Affiliations
Nasser Kehtarnavaz, Texas A&M Univ. (United States)
Norman C. Griswold, Texas A&M Univ. (United States)
J. K. Eem, Texas A&M Univ. (United States)

Published in SPIE Proceedings Vol. 1295:
Real-Time Image Processing II
Richard D. Juday, Editor(s)

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