Intelligent Vehicles '94 Symposium, Proceedings of the

24-26 Oct. 1994

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Displaying Results 1 - 25 of 105
  • 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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  • Obstacle detection by real-time optical flow evaluation

    Publication Year: 1994, Page(s):97 - 102
    Cited by:  Papers (14)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (708 KB)

    Reliable estimation of optical flow vectors facilitates the evaluation of the motion of a camera relative to the environment. Furthermore, optical flow vectors comprise information about the 3D structure of the recorded scene. In this contribution we present an approach for the detection of stationary obstacles and moving objects in front of a vehicle. The detection of obstacles and other objects ... View full abstract»

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  • The recovery of optical flow for intelligent cruise control

    Publication Year: 1994, Page(s):91 - 96
    Cited by:  Papers (8)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (644 KB)

    This paper describes the analysis of optical flows computed on image sequences taken by a TV camera mounted on a car moving in usual outdoor sceneries. The vibration of the TV camera makes the numerical computation of temporal derivatives very noisy and the texture of the road image is very poor. Therefore differential techniques do not provide adequate results. By using correlation based techniqu... View full abstract»

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  • Preceding vehicle and road lanes recognition methods for RCAS using vision system

    Publication Year: 1994, Page(s):85 - 90
    Cited by:  Papers (7)  |  Patents (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (708 KB)

    This paper describes the preceding vehicle and road lanes recognition methods for the rear-end collision avoidance system (RCAS) which we are developing. These methods are using an edge histogram method based on the model based vision concept. The edge histogram method can detect line elements of the objects stably with low calculation cost. When the region of interests for the preceding vehicle a... View full abstract»

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  • Towards all around automatic visual obstacle sensing for cars

    Publication Year: 1994, Page(s):79 - 84
    Cited by:  Papers (12)  |  Patents (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (620 KB)

    We currently work on the implementation of an integrated prototype system that provides "all around" automatic visual obstacle sensing for a Daimler-Benz test car. Most of the machine vision techniques being used have been developed within the European PROMETHEUS programme and a number of other research projects carried out by the authors and other affiliates of their institutions. This includes r... View full abstract»

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  • Collision avoidance in dynamic environments applied to autonomous vehicle guidance on the motorway

    Publication Year: 1994, Page(s):74 - 78
    Cited by:  Papers (21)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (488 KB)

    This paper discusses an approach to automatic vehicle guidance on a motorway with the intention of avoiding collisions. The autonomous vehicle should be able to manage the tasks of a driver, therefore it has to manage complex traffic situations in real time. Environment information is provided by several vision sensor modules and stored in a central dynamic database. A system view of the environme... View full abstract»

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  • A dynamically configurable architecture for the control of an autonomous underwater vehicle

    Publication Year: 1994, Page(s):520 - 525
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (540 KB)

    This paper presents a tri-level hierarchic control architecture for autonomous underwater vehicles (AUVs). This hierarchic structure is composed of three levels: organization, coordination and functional, structured according to the principle of increasing precision with decreasing intelligence. These levels are organized linguistically. The main contribution is the concept of dynamically configur... View full abstract»

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  • Texture-based segmentation of road images

    Publication Year: 1994, Page(s):260 - 265
    Cited by:  Papers (39)  |  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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  • Use of a real-time perception program supervisor in a driving scenario

    Publication Year: 1994, Page(s):363 - 368
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (396 KB)

    This paper describes the use of PLANETE, a real-time knowledge-based system for program supervision in the framework of an intelligent on-board guidance system (or co-pilot) for a motor vehicle in a realistic situation. The vehicle is equipped with several sensors, producing data, that can be processed by several programs. The role of PLANETE is to convert the requirements of the high-level situat... View full abstract»

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  • Integration and control of reactive visual processes for visual navigation

    Publication Year: 1994, Page(s):32 - 38
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (736 KB)

    This paper describes a reactive approach to the integration and control of continuously operating visual processes. Visual processes are expressed as transformations which map signals from virtual sensors into commands for devices. These transformations define reactive processes which tightly couple perception and action. Such transformations may be used to control robotic devices, including fixat... 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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  • The Daimler-Benz steering assistant: a spin-off from autonomous driving

    Publication Year: 1994, Page(s):120 - 124
    Cited by:  Papers (15)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (376 KB)

    Based on the experience gained during 3000 km of autonomous driving on public highways, the Daimler-Benz steering assistant has been developed. As a link between purely manual and autonomous driving, this system supports the driver in keeping his lateral position on the lane while he remains in full control of the vehicle. It reduces the driver's steering task to global positioning, thus relieving... View full abstract»

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  • The development of integrated traveller information protocols

    Publication Year: 1994, Page(s):602 - 605
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (300 KB)

    The DRIVE II project ATT-ALERT has, over the past three years, developed a family of protocols for disseminating traffic and travel information. Building on the ALERT C protocol for the radio data system-traffic message channel (RDS-TMC) developed in DRIVE I, ATT-ALERT has addressed communications bearers and applications. In addition, considerable work has taken place preparing the ALERT C protoc... View full abstract»

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  • Mobile robot localization using a light-stripe sensor

    Publication Year: 1994, Page(s):255 - 259
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (320 KB)

    This paper presents an absolute localization system for a mobile robot moving on a flat ground, in a structured environment. The method makes use of 3D images provided by a light-stripe sensor. The images represent the sections in a horizontal plane of characteristic edges of the environment, whose model is known at the very outset. The goal is to extract at least two identifiable points out of th... View full abstract»

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  • A real-time traffic sign recognition system

    Publication Year: 1994, Page(s):213 - 218
    Cited by:  Papers (43)  |  Patents (26)
    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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  • Robust lateral control of highway vehicles

    Publication Year: 1994, Page(s):375 - 380
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (404 KB)

    Vehicle lateral dynamics are affected by vehicle mass, longitudinal velocity, vehicle inertia, and the cornering stiffness of the tires. All of these parameters are subject to variation, even over the course of a single trip. Therefore, a practical lateral control system must guarantee stability, and hopefully ride comfort, over a wide range of parameter changes. This paper describes a robust cont... View full abstract»

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  • An integrated inter-vehicle ranging/communication system based on spread spectrum technique

    Publication Year: 1994, Page(s):131 - 136
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (372 KB)

    This paper proposes an integrated inter-vehicle ranging/communication system for use in headway control and/or rear-end collision warning systems. The original idea to establish a ranging/communication link in a traffic flow was proposed by Mizui-Uchida-Nakagawa (1993). The method was based on a spread spectrum technique and its advantages in constructing a vehicle-to-vehicle communication was pro... 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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  • 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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  • A collision detection multiprocessor for intelligent vehicles using a high-density CAM

    Publication Year: 1994, Page(s):143 - 148
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (412 KB)

    For safe driving, it is essential to detect collisions between a vehicle and obstacles at high speed. In the collision detection, a large memory capacity is usually required to store 3-D obstacle information. Moreover, high-computational power is required to perform the matching operation between vehicle and obstacle pixels. In the proposed multiprocessor, a new compact obstacle representation bas... 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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  • A range security system for vehicle navigation

    Publication Year: 1994, Page(s):357 - 362
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (592 KB)

    The contribution of this research is the development of a security system the purpose of which is to assist the teleoperator of a mobile robot by providing him pertinent information about the robot working space. In this aim, the range image based perception system must be able to detect and localize, as fast as possible, obstacles (nontraversable regions) in the scene during robot's motion. In th... View full abstract»

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  • Validity of microscopic modelling of motorway traffic

    Publication Year: 1994, Page(s):576 - 581
    Cited by:  Papers (2)
    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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  • Navigation algorithm based on teaching-playback system for unmanned dumptrucks in mines

    Publication Year: 1994, Page(s):25 - 31
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (532 KB)

    A navigation system using a teaching playback algorithm for unmanned dumptrucks is developed to be adapted to frequent changes of layouts in mines. In this paper, several procedures composing the teaching-playback algorithm such as (1) initializing the position of the dumptruck and defining a coordinate system (initializing procedure), (2) teaching course data (teaching procedure), (3) obtaining t... View full abstract»

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  • Localization of a mobile robot by matching 3D-laser-range-images and predicted sensor images

    Publication Year: 1994, Page(s):345 - 350
    Cited by:  Papers (3)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (544 KB)

    This article describes a system for localization of a mobile robot. Position and orientation of the vehicle are determined by extracting vertical surfaces from a 3D-laser-range-image, which are matched with surfaces predicted from an environmental model. The use of predicted sensor images accelerates the segmentation and matching processes by focussing on regions of interest. The three main compon... View full abstract»

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