The paper gives a survey on the new Expectation-based Multifocal Saccadic vision (EMS-vision) system for autonomous vehicle guidance developed at the Universitat der Bundeswehr Munchen (UBM). EMS-Vision is the third generation dynamic vision system following the 4-D approach. Its core element is a new camera arrangement, mounted on a high bandwidth pan-tilt head for active gaze control. Central knowledge representation and a hierarchical system architecture allow efficient activation and control of behavioral capabilities for perception and action. The system has been implemented on commercial off-the-shelf (COTS) hardware components in both UBM test vehicles VaMoRs and VaMP Results from autonomous turnoff maneuvers, performed on army proving grounds, are discussed.
EMS-Vision: a perceptual system for autonomous vehicles
IEEE Transactions on Intelligent Transportation Systems ; 3 , 1 ; 48-59
2002-03-01
454177 byte
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
EMS-Vision: A Perceptual System for Autonomous Vehicles
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