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Intelligent Vehicles '94 Symposium, Proceedings of the

Date 24-26 Oct. 1994

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Displaying Results 1 - 25 of 105
  • A vision-based vehicle matching system

    Publication Year: 1994, Page(s):266 - 271
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (696 KB)

    This paper describes a machine vision system that is able to match vehicles based on their color and shape (edge) attributes. The matching results enable the authors to estimate the travel time between two points on a road network. The system was tested on real video data that was collected in Michigan. The authors show that the travel time estimates obtained by their vision system are comparable ... View full abstract»

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  • A mobile robot and its trajectory control algorithm

    Publication Year: 1994, Page(s):225 - 230
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB)

    To provide a test-bed for research on many topics in the field of autonomous mobile robots, a manipulator attached to autonomous mobile service robot is being developed in the authors' laboratory. The designed robot, equipped with multiple sensors, driving mechanisms, computers and DC power sources, etc., is expected to navigate in an indoor environment automatically. Two arms mounted on the mobil... View full abstract»

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  • Detection of lane boundaries, intersections and obstacles

    Publication Year: 1994, Page(s):284 - 289
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (728 KB)

    This paper presents a system of visual object recognition modules which can be used to assist the navigation of a mobile vehicle in outdoor environments, such as streets or freeways. These modules are based on the grouping of edge chains into classes of straight segments and on the segmentation of the image in different regions. Such modules are able to provide relevant information to the driver, ... View full abstract»

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  • Quantitative evaluation of the exploration strategies of an intelligent vehicle

    Publication Year: 1994, Page(s):538 - 543
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (628 KB)

    Methods are described by which a simple mobile robot with a single rotating sonar sensor can systematically explore its environment and generate high-quality maps. Leonard and Durrant-Whyte's technique (1992) of grouping similar adjacent sonar returns is extended to sparse data. A new measure of map quality is defined, based on predicting the usefulness of the map for planning a benchmark set of r... View full abstract»

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  • Cartesian motion control of a mobile robot

    Publication Year: 1994, Page(s):443 - 448
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (400 KB)

    This paper presents the Cartesian motion control system of the autonomous mobile robot MACROBE (mobile and autonomous computer controlled robot experiment) of the Laboratory for Automatic Control Engineering, Technical University of Munich. This Cartesian motion control system is applicable to any vehicle with tricycle kinematic. It has a comfortable and open user interface and provides high path ... View full abstract»

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  • Realisation of an intelligent cruise control system utilizing classification of distance, relative speed and vehicle speed information

    Publication Year: 1994, Page(s):7 - 12
    Cited by:  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (412 KB)

    An intelligent cruise control system based on access to the conventional cruise control system as well as to the automatic transmission ECU has been realized. The system is characterized by different states (e.g. acceleration, hold speed, deceleration). For state control classified and weighted values of distance, relative speed and vehicle speed information are used. Control strategy therefore is... View full abstract»

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  • Navigation system for an autonomous vehicle with hierarchical map and planner

    Publication Year: 1994, Page(s):50 - 55
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (320 KB)

    We describe the navigation system of our experimental vehicle. In this system the path planning strategy is organized hierarchically. Each level has its own map and carries out planning based on the situation the vehicle confronted using its map and sensory data. Furthermore, to improve real time operation, various modules (path planing, position estimation, obstacle detection and avoidance, etc.)... View full abstract»

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  • All-weather and all-terrain intelligent vehicle for law enforcement applications

    Publication Year: 1994, Page(s):509 - 514
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (592 KB)

    The author selected neuro-fuzzy reasoning based motion control that is propulsion, dispulsion, suspension and conversion control algorithms to the mechatronically controlled intelligent vehicle. Fuzzy logic was chosen because of the following characteristics. It is easier to implement driver skills using neuro-fuzzy reasoning based motion control than using conventional motion control algorithms. ... View full abstract»

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  • Evaluation results of high-speed modem for EMI reduction automotive use

    Publication Year: 1994, Page(s):155 - 159
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (288 KB)

    This report describes a high-speed LAN (local area network) for automotive use which eliminates EMI (electromagnetic interference) noise. The automotive LAN is facing two problems due to acceleration of data transfer speed. One is an interference problem in the AM/FM radio receiver. High-speed data transmission makes the baseband frequency higher and higher. EMI energy given out of carrier signal ... View full abstract»

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  • Navigating with an animal brain: a neural network for landmark identification and navigation

    Publication Year: 1994, Page(s):399 - 404
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (552 KB)

    Navigating in an unknown environment is a task commonly accomplished by most animals. Nevertheless, it is not justified to infer that this capacity needs complex reasoning involving abstract geometrical computations. In this paper, the authors' aim is to show that such behavior, including switching between goals, can be simulated by simple artificial neural networks (NN) where no complex computati... View full abstract»

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  • An architecture for dynamic, rational, mobile agents

    Publication Year: 1994, Page(s):515 - 519
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (324 KB)

    We are exploring the extent to which we can build autonomous, mobile agents with sufficiently wide behavioural repertoires to be able to tackle complex tasks in real-world domains. Our research is developing a layered architecture within which to characterise and implement such agents. The central problem we have to tackle is the ability to build agents that can perceive, plan and act under pressu... View full abstract»

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  • Visual guidance of an autonomous vehicle in natural environments based on reflexive control

    Publication Year: 1994, Page(s):103 - 108
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (644 KB)

    Autonomous navigation in outdoor environments is a complex task that until today is realized with high cost systems. This paper presents a system for autonomous navigation in weakly structured and outdoor environments like mountain ways. The main goals are to design a robust, cheap and fast system. The proposed solution constructs a simple scene description by region segmentation and analysis of t... View full abstract»

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  • DAISY, an adaptive, knowledge-based driver monitoring and warning system

    Publication Year: 1994, Page(s):544 - 549
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (684 KB)

    This paper presents an intelligent monitoring and warning aid for the driver on German motorways. Haptic warning messages are generated and initiated on the basis of comprehensive system knowledge about the driving situation including the behavioural state and the condition of the driver. The warning messages are adapted to the individual driving style of the person actually driving. Experiments h... View full abstract»

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  • Structure of a simple but effective bus fleet management system

    Publication Year: 1994, Page(s):504 - 508
    Cited by:  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (360 KB)

    This paper describes the structure of an installed prototype real-time bus fleet management system. The automatic vehicle monitoring and control (AVMC) system is composed from three modules (a) the in-vehicle communications, (b) centralised communication network, and (c) route management computer system. Here we report on the simplicity and efficacy of the system. View full abstract»

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  • A new approach to real time traffic sign recognition based on colour information

    Publication Year: 1994, Page(s):339 - 344
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (488 KB)

    The automatic interpretation of conventional traffic signs is very complex and time consuming. The paper concerns an automatic warning system for driving assistance. It does not interpret the standard traffic signs on the roadside; the proposal is to incorporate into the existing signs another type of traffic sign whose information will be more easily interpreted by a processor. The type of inform... View full abstract»

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  • Texture-based segmentation of road images

    Publication Year: 1994, Page(s):260 - 265
    Cited by:  Papers (28)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (804 KB)

    The extraction of road boundaries is one of the basic requirements for an autonomous navigation system to guide a vehicle on a road. The existent road detection approaches have some difficulties with the roads that have neither marked lanes nor different colors between their surface and the environment. Instead of gray value or color, texture can be an important feature in such images. Taking this... View full abstract»

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  • Route planning of automated guided vehicles

    Publication Year: 1994, Page(s):479 - 484
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (488 KB)

    A few basic types of transportation functions of the automated guided vehicles are identified. Frameworks and issues related to the routing problems are then presented. The suitability of several generic topologies to each function is evaluated under the framework. It is believed that the precursory work can be a basis for future research and development in this area. View full abstract»

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  • A real-time traffic sign recognition system

    Publication Year: 1994, Page(s):213 - 218
    Cited by:  Papers (37)  |  Patents (25)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (648 KB)

    The ability of recognising traffic signs in a road traffic scenario is an important feature of the Daimler-Benz autonomous vehicle VITA II. This real-time vision-based traffic sign recognition system has been developed by Daimler-Benz in the European research project PROMETHEUS. In this paper we focus on the overall system design, the real-time implementation, and field test evaluation. The softwa... View full abstract»

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  • Cost-effective vision systems for intelligent vehicles

    Publication Year: 1994, Page(s):39 - 43
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (432 KB)

    The goal of this project is to develop cost-effective vision systems for a number of intelligent vehicle applications. We propose concurrent design of algorithms and hardware as a way of improving the cost and performance of vision systems. With this approach, we develop custom hardware rather than using off-the-shelf microprocessors. This paper describes three example systems which we have develo... View full abstract»

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  • Using binocular stereopsis for vision-based vehicle control

    Publication Year: 1994, Page(s):237 - 242
    Cited by:  Papers (3)  |  Patents (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (832 KB)

    Proposes a new approach for vision based longitudinal and lateral vehicle control which makes extensive use of binocular stereopsis. Longitudinal control-i.e. maintaining a safe, constant distance from the vehicle in front-is supported by detecting and measuring the distances to leading vehicles using binocular stereo. A known camera geometry with respect to the locally planar road is used to map ... View full abstract»

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  • Investigation on an analog stereo retina for automobile applications

    Publication Year: 1994, Page(s):320 - 325
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (332 KB)

    This paper presents an investigation on analog implementation of a stereovision algorithm suited to obstacle detection applications, especially to future intelligent vehicles or autonomous robots. The stereo algorithm is derived from the second algorithm of Marr (1979) by using local extrema extracted from DoG filtered images as matching primitives, instead of zero-crossing points. The DoG filter ... View full abstract»

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  • Extracting road curvature and orientation from image edge points without perceptual grouping into features

    Publication Year: 1994, Page(s):109 - 114
    Cited by:  Papers (66)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (856 KB)

    The ARCADE (Automated Road Curvature And Direction Estimation) algorithm estimates road curvature and tangential road orientation relative to the camera line-of-sight. The input to ARCADE consists of edge point locations and orientations extracted from an image, and it performs the estimation without the need for any prior perceptual grouping of the edge points into individual lane boundaries. It ... View full abstract»

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  • A fuzzy anti-skating system

    Publication Year: 1994, Page(s):387 - 392
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (400 KB)

    This paper gives preliminary results about a fuzzy logic controller limiting the slipping of a wheeled autonomous vehicle on various surfaces. A fuzzy approach on this subject is very attractive since the authors have to deal with an ill-defined complex problem as far as the relationship between the velocity of the vehicle, the friction force on the floor and the slipping of the wheels is concerne... View full abstract»

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  • Validity of microscopic modelling of motorway traffic

    Publication Year: 1994, Page(s):576 - 581
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (420 KB)

    Developments have recently been made in increasing the quality of data available for the calibration of microscopic simulation models, and several techniques devised for high accuracy collection. Little consideration has been given however to the acceptability of the microscopic models themselves. This paper describes the broad features of car following models in current use, their data requiremen... View full abstract»

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  • Roles and methods of digital map data usage for motor vehicle navigation systems

    Publication Year: 1994, Page(s):171 - 182
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1592 KB)

    There is a concern: "Is it safe to display a navigational map in front of a car driver while driving? Should a route guidance feature be restricted to a voice/arrow assisted turn-by-turn method for the safety of a driver?" This investigation is designed in an attempt to discover statistical and quantitative degree of safety to the driver with respect to the time required to read the displayed map,... View full abstract»

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