EMS-Vision: a perceptual system for autonomous vehicles

Author

Gregor, Rudolf ; Lützeler, M. ; Pellkofer, M. ; Siedersberger, K.-H. ; Dickmanns, Ernst Dieter

Author_Institution

Inst. fur Systemdynamik & Flugmechanik, Univ. der Bundeswehr Munchen, Neubiberg, Germany

Volume

3

Issue

1

fYear

2002

fDate

3/1/2002 12:00:00 AM

Firstpage

48

Lastpage

59

Abstract

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

Keywords

active vision; mobile robots; robot vision; active vision system; autonomous vehicle guidance; dynamic machine vision; dynamic vision system; expectation-based multifocal saccadic vision; knowledge representation; system architecture; Bandwidth; Cameras; Centralized control; Hierarchical systems; Knowledge representation; Machine vision; Mobile robots; Navigation; Remotely operated vehicles; Vehicle dynamics;

fLanguage

English

Journal_Title

Intelligent Transportation Systems, IEEE Transactions on

Publisher

ieee

ISSN

1524-9050

Type

jour

DOI

10.1109/6979.994795

Filename

994795