The integrated spatio-temporal approach to real-time machine vision, which has allowed outstanding performance with moderate computing power, is extended to obstacle recognition and relative spatial state estimation using monocular vision. A modular vision system architecture is discussed centering around features and objects. Experimental results with VaMoRs, a5-ton test vehicle are given. Stopping in front of obstacles of at least 0.5 m2 cross section has been demonstrated on unmarked two-lane roads at velocities up to 40 km/h.
Relative 3D-state estimation for autonomous visual guidance of road vehicles
Relative 3D-Statusschätzung für eine autonome visuelle Führung von Straßenfahrzeugen
1990
11 Seiten, 9 Bilder, 1 Tabelle, 12 Quellen
Conference paper
English
Relative 3D-state estimation for autonomous visual guidance of road vehicles
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