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Proceedings Paper

VaMoRs-P: an advanced platform for visual autonomous road vehicle guidance
Author(s): Markus Maurer; Reinhold Behringer; Dirk Dickmanns; Thomas Hildebrandt; Frank Thomanek; Joachim Schiehlen; Ernst Dieter Dickmanns
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Paper Abstract

A sedan Mercedes 500 SEL has been equipped with active bifocal vision systems. Road and object recognition is performed both in a look-ahead and in a look-back region; this allows to servo-maintain an internal representation of the entire situation around in the vehicle using the 4D approach to dynamic machine vision. Obstacles are detected and tracked both in the forward and in the backward viewing range up to about 100 meters distance; up to 5 objects may be tracked in parallel in each hemisphere. A fixation type viewing direction control with the capability of saccadic shifts for attention focusing has been developed. The overall system comprises about 5 dozen transputers T-222 (16-bit, for image processing and communication) and T-800 (32-bit, for number crunching and knowledge processing) plus a PC as transputer host. A description of the parallel processing architecture is given allowing frequent data driven bottom-up and model driven top-down integration steps for efficient and robust object tracking (4D approach).

Paper Details

Date Published: 9 January 1995
PDF: 10 pages
Proc. SPIE 2352, Mobile Robots IX, (9 January 1995); doi: 10.1117/12.198974
Show Author Affiliations
Markus Maurer, Univ. der Bundeswehr Muenchen (Germany)
Reinhold Behringer, Univ. der Bundeswehr Muenchen (Germany)
Dirk Dickmanns, Univ. der Bundeswehr Muenchen (Germany)
Thomas Hildebrandt, Univ. der Bundeswehr Muenchen (Germany)
Frank Thomanek, Univ. der Bundeswehr Muenchen (Germany)
Joachim Schiehlen, Univ. der Bundeswehr Muenchen (Germany)
Ernst Dieter Dickmanns, Univ. der Bundeswehr Muenchen (Germany)

Published in SPIE Proceedings Vol. 2352:
Mobile Robots IX
William J. Wolfe; Wendell H. Chun, Editor(s)

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