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EMS-Vision: a perceptual system for autonomous vehicles

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5 Author(s)
Gregor, R. ; Inst. fur Systemdynamik & Flugmechanik, Univ. der Bundeswehr Munchen, Neubiberg, Germany ; Lutzeler, M. ; Pellkofer, M. ; Siedersberger, K.-H.
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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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Intelligent Transportation Systems, IEEE Transactions on  (Volume:3 ,  Issue: 1 )