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.


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    Title :

    EMS-Vision: a perceptual system for autonomous vehicles


    Contributors:


    Publication date :

    2002-03-01


    Size :

    454177 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    EMS-Vision: A Perceptual System for Autonomous Vehicles

    Gregor, R. / Lutzeler, M. / Pellkofer, M. et al. | British Library Online Contents | 2002


    EMS-Vision: A Perceptual System for Autonomous Vehicles

    Gregor, R. / Lutzeler, M. / Pellkofer, M. et al. | British Library Conference Proceedings | 2000


    EMS-Vision: A Perceptual System for Autonomous Vehicles

    Gregor, R. / Lutzeler, M. / Pellkofer, M. et al. | British Library Conference Proceedings | 2000


    EMS-Vision: a perceptual system for autonomous vehicles

    Gregor, R. / Lutzeler, M. / Pellkofer, M. et al. | IEEE | 2000