Title :
EMS-Vision: a perceptual system for autonomous vehicles
Author :
Gregor, R. ; Lutzeler, M. ; Pellkofer, M. ; Siedersberger, K.-H. ; Dickmanns, E.D.
Author_Institution :
Inst. fur Systemdynamik und Flugmechanik, Univ. der Bundeswehr Munchen, Neubiberg, Germany
fDate :
6/22/1905 12:00:00 AM
Abstract :
A survey is given of an expectation-based multifocal saccadic vision (EMS-Vision) system. EMS-Vision is the 3rd generation dynamic vision system for road vehicle guidance following the 4D approach. It combines a wide field of view (f.o.v.) nearby (>100°, L0.05 =36 m, peripheral part) with central areas of high resolution: a 3-chip-color-camera with a f.o.v. of 23° (L0.05=100 m) and a high sensitivity b/w-camera with a f.o.v. of 5.5° (L0.05 =300 m, foveal part). At L0.05 a single pixel in the image corresponds to 5 cm in the real world. By active gaze control, this foveal cone can be inertially stabilized, be redirected to a point of interest in the wide f.o.v. (saccade), and locked onto a moving object for reducing motion blur (fixation). This vertebrate type of vision system allows new performance levels in machine vision. The system has been implemented on commercial off-the-shelf (COTS) components in test vehicles
Keywords :
mobile robots; road vehicles; robot vision; stability; 3-chip-color-camera; 4D approach; COTS components; EMS-Vision; EMS-Vision system; VaMP; VaMoRs; active gaze control; autonomous vehicles; expectation-based multifocal saccadic vision system; fixation; high sensitivity b/w-camera; inertial stabilization; machine vision; motion blur reduction; perceptual system; road vehicle guidance; Cameras; Collision avoidance; Hardware; Machine vision; Mobile robots; Navigation; Remotely operated vehicles; Road vehicles; System testing; Vehicle dynamics;
Conference_Titel :
Intelligent Vehicles Symposium, 2000. IV 2000. Proceedings of the IEEE
Print_ISBN :
0-7803-6363-9
DOI :
10.1109/IVS.2000.898317
