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A Curvature-based Scheme for Improving Road Vehicle Guidance by Computer Vision
Abstract
An efficient method for guiding high speed land vehicles along roadways by computer vision has been developed and demonstrated with image sequence processing hardware in a real-time simulation loop 1. The approach is tailored to a well structured highway environment with good lanemarkings. Contour correlation and high order world models are the basic elements of the method, realised in a special multi-microprocessor (on board) computer system. Perspec-tive projection and dynamical models (Kalman filter) are used in an integrated approach for the design of the visual feedback control system. By determining road curvature explicity from the visual input, previously encountered steady state errors in curves are eliminated. The performance of the system will be demonstrated by a video film. The operation of the image sequence processing system has been tested on a typical Autobahn-scene at velocities up to 100 km/h.
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Cited by
Vision for mobile robot navigation: a survey
Desouza, G. N., & Kak, A. C. (2002) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/34.982903 · Cited by 1,357
A Machine Learning Approach to Visual Perception of Forest Trails for Mobile Robots
Giusti, A., Guzzi, J., Ciresan, D. C., He, F.-L., Rodriguez, J. P., Fontana, F., Faessler, M., Forster, C., Schmidhuber, J., Caro, G. D., et al. (2016) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2015.2509024 · Cited by 665
Traffic sign recognition and analysis for intelligent vehicles
de la Escalera, A., Armingol, J. M., & Mata, M. (2003) · Image and Vision Computing · doi:10.1016/s0262-8856(02)00156-7 · Cited by 458
Dynamic monocular machine vision
Dickmanns, E. D., & Graefe, V. (1988) · Machine Vision and Applications · doi:10.1007/bf01212361 · Cited by 353
Self-citation50 Years of object recognition: Directions forward
Andreopoulos, A., & Tsotsos, J. K. (2013) · Computer Vision and Image Understanding · doi:10.1016/j.cviu.2013.04.005 · Cited by 347
Metadata
- Authors
- Dickmanns, E. D., & Zapp, A.
- Venue
- SPIE Proceedings
- Publisher
- SPIE
- Published
- 1987-02-25
- Volume
- 0727
- Pages
- 161
- ISSN
- 0277-786X (ISSN-L)
- OpenAlex
- W2008791833
- Cited by
- 256
- References
- 0
- FWCI
- 18.27
- Type
- conference paper
- Language
- en
- Open access
- closed
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