A Curvature-based Scheme for Improving Road Vehicle Guidance by Computer Vision

E. D. Dickmanns; A. Zapp

doi:10.1117/12.937795

25 February 1987 A Curvature-based Scheme for Improving Road Vehicle Guidance by Computer Vision

E. D. Dickmanns, A. Zapp

Proceedings Volume 0727, Mobile Robots I; (1987) https://doi.org/10.1117/12.937795
Event: Cambridge Symposium_Intelligent Robotics Systems, 1986, Cambridge, MA, United States

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.

Citation Download Citation

E. D. Dickmanns and A. Zapp "A Curvature-based Scheme for Improving Road Vehicle Guidance by Computer Vision", Proc. SPIE 0727, Mobile Robots I, (25 February 1987); https://doi.org/10.1117/12.937795

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available